Template Struct PointVelocityDerivativesBackwardStep
Defined in File kinematics-derivatives.hxx
Inheritance Relationships
Base Type
public pinocchio::fusion::JointUnaryVisitorBase< PointVelocityDerivativesBackwardStep< Scalar, Options, JointCollectionTpl, Matrix3xOut1, Matrix3xOut2 > >
(Template Struct JointUnaryVisitorBase)
Struct Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename Matrix3xOut1, typename Matrix3xOut2>
struct PointVelocityDerivativesBackwardStep : public pinocchio::fusion::JointUnaryVisitorBase<PointVelocityDerivativesBackwardStep<Scalar, Options, JointCollectionTpl, Matrix3xOut1, Matrix3xOut2>> Public Types
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typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model
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typedef DataTpl<Scalar, Options, JointCollectionTpl> Data
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typedef boost::fusion::vector<const Model&, const Data&, const typename Data::SE3&, const typename Data::Motion&, const ReferenceFrame&, Matrix3xOut1&, Matrix3xOut2&> ArgsType
Public Static Functions
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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 ReferenceFrame &rf, const Eigen::MatrixBase<Matrix3xOut1> &v_partial_dq, const Eigen::MatrixBase<Matrix3xOut2> &v_partial_dv)
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typedef ModelTpl<Scalar, Options, JointCollectionTpl> Model