Template Struct ScaledJointMotionSubspaceTpl

Defined in File joint-mimic.hpp

Nested Relationships

Nested Types

Struct ScaledJointMotionSubspaceTpl::TransposeConst

Inheritance Relationships

Base Type

public pinocchio::JointMotionSubspaceBase< ScaledJointMotionSubspaceTpl< _Scalar, _Options, _MaxDim > > (Template Class JointMotionSubspaceBase)

Struct Documentation

template<typename _Scalar, int _Options, int _MaxDim> struct ScaledJointMotionSubspaceTpl : public pinocchio::JointMotionSubspaceBase<ScaledJointMotionSubspaceTpl<_Scalar, _Options, _MaxDim>>

Public Types

Values:

enumerator NV

enumerator MaxDim

typedef JointMotionSubspaceBase<ScaledJointMotionSubspaceTpl> Base

typedef traits<ScaledJointMotionSubspaceTpl<_Scalar, _Options, _MaxDim>>::RefJointMotionSubspace RefJointMotionSubspace

typedef SE3GroupAction<RefJointMotionSubspace>::ReturnType SE3ActionReturnType

Public Functions

inline ScaledJointMotionSubspaceTpl()

inline explicit ScaledJointMotionSubspaceTpl(const Scalar &scaling_factor)

template<typename ConstraintTpl> inline ScaledJointMotionSubspaceTpl(const ConstraintTpl &constraint, const Scalar &scaling_factor)

inline ScaledJointMotionSubspaceTpl(const ScaledJointMotionSubspaceTpl &other)

inline ScaledJointMotionSubspaceTpl &operator=(const ScaledJointMotionSubspaceTpl &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 const DenseBase &matrix_impl() const

inline DenseBase &matrix_impl()

template<typename MotionDerived> inline MotionAlgebraAction<ScaledJointMotionSubspaceTpl, MotionDerived>::ReturnType motionAction(const MotionDense<MotionDerived> &m) const

inline const Scalar &scaling() const

inline Scalar &scaling()

inline const RefJointMotionSubspace &constraint() const

inline RefJointMotionSubspace &constraint()

inline bool isEqual(const ScaledJointMotionSubspaceTpl &other) const

inline int nv() const

Protected Attributes

RefJointMotionSubspace m_constraint

Scalar m_scaling_factor

mutable DenseBase S

struct TransposeConst

Public Functions

inline explicit TransposeConst(const ScaledJointMotionSubspaceTpl &ref)

template<typename Derived> inline JointForce operator*(const ForceDense<Derived> &f) const

template<typename Derived> inline ConstraintForceSetOp<ScaledJointMotionSubspaceTpl, Derived>::ReturnType operator*(const Eigen::MatrixBase<Derived> &F) const: [CRBA] MatrixBase operator* (RefConstraint::Transpose S, ForceSet::Block)

Public Members

const ScaledJointMotionSubspaceTpl &ref