Template Struct TangentConverterVisitor

Defined in File model-configuration-converter.hxx

Inheritance Relationships

Base Type

public boost::static_visitor< void >

Struct Documentation

template<typename _Scalar, int _Options, template<typename, int> class JointCollectionTpl, typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2> struct TangentConverterVisitor : public boost::static_visitor<void>

Public Types

Values:

enumerator Options

typedef _Scalar Scalar

typedef ModelConfigurationConverterTpl<Scalar, Options, JointCollectionTpl> ModelConfigurationConverter

typedef ModelConfigurationConverter::JointMapping JointMapping

typedef Eigen::Vector<Scalar, 2> Vector2

typedef Eigen::Matrix<Scalar, 2, 2> Matrix2

typedef Eigen::Vector<Scalar, 3> Vector3

typedef Eigen::Matrix<Scalar, 3, 3> Matrix3

typedef Eigen::Quaternion<Scalar> Quaternion

typedef SE3Tpl<Scalar, Options> SE3

typedef MotionSphericalTpl<Scalar, Options> MotionSpherical

typedef MotionTpl<Scalar, Options> Motion

typedef void ReturnType

Public Functions

inline TangentConverterVisitor(const Eigen::MatrixBase<ConfigVectorType> &q_source, const Eigen::MatrixBase<TangentVectorType1> &v_source, const Eigen::MatrixBase<TangentVectorType2> &v_target, const ConfigurationMapping &configuration, const TangentMapping &tangent, const JointMapping &joint)

template<typename JointType> inline ReturnType operator()(const JointType&) const

inline ReturnType operator()(const JointModelFreeFlyerTpl<Scalar, Options>&) const

inline ReturnType operator()(const JointModelSphericalTpl<Scalar, Options>&) const

inline ReturnType operator()(const JointModelSphericalZYXTpl<Scalar, Options>&) const

inline ReturnType operator()(const JointModelPlanarTpl<Scalar, Options>&) const

inline ReturnType operator()(const JointModelUniversalTpl<Scalar, Options>&) const

inline ReturnType operator()(const JointModelMimicTpl<Scalar, Options, JointCollectionTpl>&) const

inline ReturnType operator()(const JointModelCompositeTpl<Scalar, Options, JointCollectionTpl>&) const

Public Members

const Eigen::MatrixBase<ConfigVectorType> &q_source

const Eigen::MatrixBase<TangentVectorType1> &v_source

TangentVectorType2 &v_target

const ConfigurationMapping &configuration

const TangentMapping &tangent

const JointMapping &joint