Template Struct CreateConverterAlgo

Struct Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl>
struct CreateConverterAlgo

Compute the ModelConfigurationConverter mapping vector. This structure use recursive methods to handle composite joint flattening.

Public Types

typedef ModelConfigurationConverterTpl<Scalar, Options, JointCollectionTpl> ModelConfigurationConverter
typedef ModelConfigurationConverter::JointMapping JointMapping
typedef JointModelCompositeTpl<Scalar, Options, JointCollectionTpl> JointModelComposite
typedef JointModelTpl<Scalar, Options, JointCollectionTpl> JointModel

Public Functions

inline void addJointFromModel(const ModelTpl<Scalar, Options, JointCollectionTpl> &model_source, const ModelTpl<Scalar, Options, JointCollectionTpl> &model_target, const std::unordered_map<std::string, bool> &joint_direction_source, const std::unordered_map<std::string, bool> &joint_direction_target, std::size_t index_source)

Add all the joints from a Model to the mapping.

inline void addJointFromComposite(const typename JointModelComposite::JointModelVector &joints_source, const typename JointModelComposite::JointModelVector &joints_target, bool same_direction)

Add all the joints from a JointComposite to the mapping.

inline void addJointModel(const JointModel &joint_model_source, const JointModel &joint_model_target, bool same_direction)

Add a JointModel to the mapping.

Public Members

std::vector<ConfigurationMapping> configuration_mapping
std::vector<TangentMapping> tangent_mapping
std::vector<JointMapping> joint_mapping