Template Struct ScaledJointMotionSubspace

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

Struct Documentation

template<class Constraint>
struct ScaledJointMotionSubspace : public pinocchio::JointMotionSubspaceBase<ScaledJointMotionSubspace<Constraint>>

Public Types

Values:

enumerator NV
typedef JointMotionSubspaceBase<ScaledJointMotionSubspace> Base
typedef SE3GroupAction<Constraint>::ReturnType SE3ActionReturnType

Public Functions

inline ScaledJointMotionSubspace()
inline explicit ScaledJointMotionSubspace(const Scalar &scaling_factor)
inline ScaledJointMotionSubspace(const Constraint &constraint, const Scalar &scaling_factor)
inline ScaledJointMotionSubspace(const ScaledJointMotionSubspace &other)
inline ScaledJointMotionSubspace &operator=(const ScaledJointMotionSubspace &other)
template<typename VectorLike>
inline JointMotion __mult__(const Eigen::MatrixBase<VectorLike> &v) const
template<typename S1, int O1>
inline SE3ActionReturnType se3Action(const SE3Tpl<S1, O1> &m) const
template<typename S1, int O1>
inline SE3ActionReturnType se3ActionInverse(const SE3Tpl<S1, O1> &m) const
inline int nv_impl() const
inline TransposeConst transpose() const
inline DenseBase matrix_impl() const
template<typename MotionDerived>
inline MotionAlgebraAction<ScaledJointMotionSubspace, MotionDerived>::ReturnType motionAction(const MotionDense<MotionDerived> &m) const
inline const Scalar &scaling() const
inline Scalar &scaling()
inline const Constraint &constraint() const
inline Constraint &constraint()
inline bool isEqual(const ScaledJointMotionSubspace &other) const
inline int nv() const

Protected Attributes

Constraint m_constraint
Scalar m_scaling_factor
struct TransposeConst : public pinocchio::JointMotionSubspaceTransposeBase<ScaledJointMotionSubspace>

Public Functions

inline TransposeConst(const ScaledJointMotionSubspace &ref)
template<typename Derived>
inline ConstraintForceOp<ScaledJointMotionSubspace, Derived>::ReturnType operator*(const ForceDense<Derived> &f) const
template<typename Derived>
inline ConstraintForceSetOp<ScaledJointMotionSubspace, Derived>::ReturnType operator*(const Eigen::MatrixBase<Derived> &F) const

[CRBA] MatrixBase operator* (Constraint::Transpose S, ForceSet::Block)

Public Members

const ScaledJointMotionSubspace &ref