Template Struct PointClassicAccelerationDerivativesBackwardStep

Inheritance Relationships

Base Type

  • public pinocchio::fusion::JointUnaryVisitorBase< PointClassicAccelerationDerivativesBackwardStep< Scalar, Options, JointCollectionTpl, Matrix3xOut1, Matrix3xOut2, Matrix3xOut3, Matrix3xOut4 > > (Template Struct JointUnaryVisitorBase)

Struct Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename Matrix3xOut1, typename Matrix3xOut2, typename Matrix3xOut3, typename Matrix3xOut4>
struct PointClassicAccelerationDerivativesBackwardStep : public pinocchio::fusion::JointUnaryVisitorBase<PointClassicAccelerationDerivativesBackwardStep<Scalar, Options, JointCollectionTpl, Matrix3xOut1, Matrix3xOut2, Matrix3xOut3, Matrix3xOut4>>

Public Types

typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model
typedef DataTpl<Scalar, Options, JointCollectionTpl> Data
typedef boost::fusion::vector<const Model&, const Data&, const typename Data::SE3&, const typename Data::Motion&, const typename Data::Motion::Vector3&, const ReferenceFrame&, Matrix3xOut1&, Matrix3xOut2&, Matrix3xOut3&, Matrix3xOut4&> ArgsType

Public Static Functions

template<typename JointModel>
static inline void algo(const JointModelBase<JointModel> &jmodel, const Model &model, const Data &data, const typename Data::SE3 &oMpoint, const typename Data::Motion &spatial_point_velocity, const typename Data::Motion::Vector3 &point_classic_acceleration, const ReferenceFrame &rf, const Eigen::MatrixBase<Matrix3xOut1> &v_partial_dq, const Eigen::MatrixBase<Matrix3xOut2> &a_partial_dq, const Eigen::MatrixBase<Matrix3xOut3> &a_partial_dv, const Eigen::MatrixBase<Matrix3xOut4> &a_partial_da)