Inheritance diagram for MotionTpl< _Scalar, _Options >:

Collaboration diagram for MotionTpl< _Scalar, _Options >:

Public Types
enum	{ Options = _Options }
typedef MotionDense< MotionTpl >	Base
Public Types inherited from MotionDense< MotionTpl< _Scalar, _Options > >
typedef MotionBase< MotionTpl< _Scalar, _Options > >	Base
typedef traits< MotionTpl< _Scalar, _Options > >::MotionRefType	MotionRefType

Public Member Functions
template<typename V1, typename V2>
	MotionTpl (const Eigen::MatrixBase< V1 > &v, const Eigen::MatrixBase< V2 > &w)
template<typename V6>
	MotionTpl (const Eigen::MatrixBase< V6 > &v)
template<typename M2, typename std::enable_if<!std::is_convertible< MotionBase< M2 >, MotionTpl >::value, bool >::type = true>
	MotionTpl (const MotionBase< M2 > &clone)
template<typename M2, typename std::enable_if<!std::is_convertible< MotionDense< M2 >, MotionTpl >::value, bool >::type = true>
	MotionTpl (const MotionDense< M2 > &clone)
	MotionTpl (const MotionTpl &other)
template<typename S2, int O2>
	MotionTpl (const MotionTpl< S2, O2 > &other)
template<int O2>
	MotionTpl (const MotionTpl< Scalar, O2 > &clone)
MotionTpl &	__mequ__ (const MotionDense< M1 > &v)
template<typename Vector6ArgType>
MotionTpl &	__mequ__ (const MotionRef< Vector6ArgType > &v)
template<int O2>
MotionTpl &	__mequ__ (const MotionTpl< Scalar, O2 > &v)
MotionPlain	__minus__ (const MotionDense< M1 > &v) const
template<typename Vector6ArgType>
MotionPlain	__minus__ (const MotionRef< Vector6ArgType > &v) const
template<int O2>
MotionPlain	__minus__ (const MotionTpl< Scalar, O2 > &v) const
template<typename OtherScalar>
MotionPlain	__mult__ (const OtherScalar &alpha) const
MotionPlain	__opposite__ () const
MotionTpl &	__pequ__ (const MotionDense< M1 > &v)
template<typename Vector6ArgType>
MotionTpl &	__pequ__ (const MotionRef< Vector6ArgType > &v)
template<int O2>
MotionTpl &	__pequ__ (const MotionTpl< Scalar, O2 > &v)
MotionPlain	__plus__ (const MotionDense< M1 > &v) const
template<typename Vector6ArgType>
MotionPlain	__plus__ (const MotionRef< Vector6ArgType > &v) const
template<int O2>
MotionPlain	__plus__ (const MotionTpl< Scalar, O2 > &v) const
AngularType	angular ()
ConstAngularType	angular () const
void	angular (const Eigen::MatrixBase< V3Like > &w)
AngularType	angular_impl ()
ConstAngularType	angular_impl () const
template<typename V3>
void	angular_impl (const Eigen::MatrixBase< V3 > &w)
template<typename NewScalar>
MotionTpl< NewScalar, Options >	cast () const
LinearType	linear ()
ConstLinearType	linear () const
void	linear (const Eigen::MatrixBase< V3Like > &v)
LinearType	linear_impl ()
ConstLinearType	linear_impl () const
template<typename V3>
void	linear_impl (const Eigen::MatrixBase< V3 > &v)
	MOTION_TYPEDEF_TPL (MotionTpl)
MotionTpl &	operator= (const Eigen::MatrixBase< V6 > &v)
MotionTpl &	operator= (const MotionBase< D2 > &other)
MotionTpl &	operator= (const MotionDense &other)
MotionTpl &	operator= (const MotionDense< D2 > &other)
MotionTpl &	operator= (const MotionTpl &clone)
	Copy assignment operator.
PlainReturnType	plain () const
MotionRef< Vector6 >	ref ()
ToVectorReturnType	toVector_impl ()
ToVectorConstReturnType	toVector_impl () const
Public Member Functions inherited from MotionDense< MotionTpl< _Scalar, _Options > >
MotionPlain	__div__ (const OtherScalar &alpha) const
MotionTpl< _Scalar, _Options > &	__mequ__ (const MotionDense< M1 > &v)
MotionPlain	__minus__ (const MotionDense< M1 > &v) const
MotionPlain	__mult__ (const OtherScalar &alpha) const
MotionPlain	__opposite__ () const
MotionTpl< _Scalar, _Options > &	__pequ__ (const MotionDense< M1 > &v)
MotionPlain	__plus__ (const MotionDense< M1 > &v) const
AngularType	angular ()
ConstAngularType	angular () const
void	angular (const Eigen::MatrixBase< V3Like > &w)
MotionAlgebraAction< D, MotionTpl< _Scalar, _Options > >::ReturnType	cross_impl (const D &d) const
MotionTpl< _Scalar, _Options > &	derived ()
const MotionTpl< _Scalar, _Options > &	derived () const
void	disp_impl (std::ostream &os) const
Scalar	dot (const ForceBase< F1 > &phi) const
bool	isApprox (const MotionTpl< _Scalar, _Options > &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
bool	isApprox_impl (const MotionDense< D2 > &m2, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
bool	isEqual_impl (const MotionDense< D2 > &other) const
bool	isZero (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
bool	isZero_impl (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
LinearType	linear ()
ConstLinearType	linear () const
void	linear (const Eigen::MatrixBase< V3Like > &v)
	MOTION_TYPEDEF_TPL (MotionTpl< _Scalar, _Options >)
void	motionAction (const MotionDense< M1 > &v, MotionDense< M2 > &mout) const
MotionPlain	operator+ (const MotionDense< M1 > &v) const
MotionTpl< _Scalar, _Options > &	operator+= (const MotionDense< M1 > &v)
MotionPlain	operator- () const
MotionTpl< _Scalar, _Options > &	operator-= (const MotionDense< M1 > &v)
MotionTpl< _Scalar, _Options > &	operator= (const MotionDense< D2 > &other)
MotionRefType	ref ()
void	se3Action_impl (const SE3Tpl< S2, O2 > &m, MotionDense< D2 > &v) const
void	se3ActionInverse_impl (const SE3Tpl< S2, O2 > &m, MotionDense< D2 > &v) const
MotionTpl< _Scalar, _Options > &	set (const MotionDense< D2 > &other)
MotionTpl< _Scalar, _Options > &	setRandom ()
MotionTpl< _Scalar, _Options > &	setZero ()
ActionMatrixType	toActionMatrix_impl () const
ActionMatrixType	toDualActionMatrix_impl () const
HomogeneousMatrixType	toHomogeneousMatrix_impl () const
Public Member Functions inherited from MotionBase< MotionTpl< _Scalar, _Options > >
ConstAngularType	angular () const
MotionTpl< _Scalar, _Options > &	const_cast_derived () const
MotionAlgebraAction< OtherSpatialType, MotionTpl< _Scalar, _Options > >::ReturnType	cross (const OtherSpatialType &d) const
MotionTpl< _Scalar, _Options > &	derived ()
void	disp (std::ostream &os) const
Scalar	dot (const ForceDense< ForceDerived > &f) const
bool	isApprox (const MotionTpl< _Scalar, _Options > &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
bool	isZero (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
ConstLinearType	linear () const
	MOTION_TYPEDEF_TPL (MotionTpl< _Scalar, _Options >)
	operator Matrix6 () const
	operator PlainReturnType () const
	operator Vector6 () const
bool	operator!= (const MotionBase< M2 > &other) const
internal::RHSScalarMultiplication< MotionTpl< _Scalar, _Options >, OtherScalar >::ReturnType	operator* (const OtherScalar &alpha) const
MotionTpl< _Scalar, _Options >	operator+ (const MotionBase< MotionTpl< _Scalar, _Options > > &v) const
MotionTpl< _Scalar, _Options > &	operator+= (const MotionBase< MotionTpl< _Scalar, _Options > > &v)
MotionTpl< _Scalar, _Options >	operator- () const
MotionTpl< _Scalar, _Options > &	operator-= (const MotionBase< MotionTpl< _Scalar, _Options > > &v)
MotionTpl< _Scalar, _Options >	operator/ (const OtherScalar &alpha) const
bool	operator== (const MotionBase< M2 > &other) const
PlainReturnType	plain () const
SE3GroupAction< MotionTpl< _Scalar, _Options > >::ReturnType	se3Action (const SE3Tpl< S2, O2 > &m) const
SE3GroupAction< MotionTpl< _Scalar, _Options > >::ReturnType	se3ActionInverse (const SE3Tpl< S2, O2 > &m) const
void	setZero ()
ActionMatrixType	toActionMatrix () const
ActionMatrixType	toDualActionMatrix () const
HomogeneousMatrixType	toHomogeneousMatrix () const
	The homogeneous representation of the motion vector $\xi$ .
ToVectorConstReturnType	toVector () const

Static Public Member Functions
static MotionTpl	Random ()
static MotionTpl	Zero ()

Protected Attributes
Vector6	m_data

Detailed Description

template<typename _Scalar, int _Options>
class pinocchio::MotionTpl< _Scalar, _Options >

Definition at line 40 of file motion-tpl.hpp.

Member Typedef Documentation

◆ Base

template<typename _Scalar, int _Options>

typedef MotionDense<MotionTpl> Base

Definition at line 44 of file motion-tpl.hpp.

Member Enumeration Documentation

◆ anonymous enum

template<typename _Scalar, int _Options>

anonymous enum

Definition at line 46 of file motion-tpl.hpp.

Constructor & Destructor Documentation

◆ MotionTpl() [1/8]

template<typename _Scalar, int _Options>

MotionTpl ( )

inline

Definition at line 63 of file motion-tpl.hpp.

◆ MotionTpl() [2/8]

template<typename _Scalar, int _Options>

template<typename V1, typename V2>

MotionTpl	(	const Eigen::MatrixBase< V1 > &	v,
		const Eigen::MatrixBase< V2 > &	w )

inline

Definition at line 68 of file motion-tpl.hpp.

◆ MotionTpl() [3/8]

template<typename _Scalar, int _Options>

template<typename V6>

MotionTpl ( const Eigen::MatrixBase< V6 > & v )

inlineexplicit

Definition at line 77 of file motion-tpl.hpp.

◆ MotionTpl() [4/8]

template<typename _Scalar, int _Options>

MotionTpl ( const MotionTpl< _Scalar, _Options > & other )

inline

Definition at line 83 of file motion-tpl.hpp.

◆ MotionTpl() [5/8]

template<typename _Scalar, int _Options>

template<typename S2, int O2>

MotionTpl ( const MotionTpl< S2, O2 > & other )

inlineexplicit

Definition at line 89 of file motion-tpl.hpp.

◆ MotionTpl() [6/8]

template<typename _Scalar, int _Options>

template<int O2>

MotionTpl ( const MotionTpl< Scalar, O2 > & clone )

inlineexplicit

Definition at line 95 of file motion-tpl.hpp.

◆ MotionTpl() [7/8]

template<typename _Scalar, int _Options>

template<typename M2, typename std::enable_if<!std::is_convertible< MotionDense< M2 >, MotionTpl >::value, bool >::type = true>

MotionTpl ( const MotionDense< M2 > & clone )

inlineexplicit

Definition at line 105 of file motion-tpl.hpp.

◆ MotionTpl() [8/8]

template<typename _Scalar, int _Options>

template<typename M2, typename std::enable_if<!std::is_convertible< MotionBase< M2 >, MotionTpl >::value, bool >::type = true>

MotionTpl ( const MotionBase< M2 > & clone )

inlineexplicit

Definition at line 119 of file motion-tpl.hpp.

Member Function Documentation

◆ mequ() [1/3]

template<typename _Scalar, int _Options>

MotionTpl & __mequ__ ( const MotionDense< M1 > & v )

inline

Definition at line 191 of file motion-dense.hpp.

◆ mequ() [2/3]

template<typename _Scalar, int _Options>

template<typename Vector6ArgType>

MotionTpl & __mequ__ ( const MotionRef< Vector6ArgType > & v )

inline

Definition at line 237 of file motion-tpl.hpp.

◆ mequ() [3/3]

template<typename _Scalar, int _Options>

template<int O2>

MotionTpl & __mequ__ ( const MotionTpl< Scalar, O2 > & v )

inline

Definition at line 230 of file motion-tpl.hpp.

◆ minus() [1/3]

template<typename _Scalar, int _Options>

MotionPlain __minus__ ( const MotionDense< M1 > & v ) const

inline

Definition at line 177 of file motion-dense.hpp.

◆ minus() [2/3]

template<typename _Scalar, int _Options>

template<typename Vector6ArgType>

MotionPlain __minus__ ( const MotionRef< Vector6ArgType > & v ) const

inline

Definition at line 210 of file motion-tpl.hpp.

◆ minus() [3/3]

template<typename _Scalar, int _Options>

template<int O2>

MotionPlain __minus__ ( const MotionTpl< Scalar, O2 > & v ) const

inline

Definition at line 204 of file motion-tpl.hpp.

◆ mult()

template<typename _Scalar, int _Options>

template<typename OtherScalar>

MotionPlain __mult__ ( const OtherScalar & alpha ) const

inline

Definition at line 244 of file motion-tpl.hpp.

◆ opposite()

template<typename _Scalar, int _Options>

MotionPlain __opposite__ ( ) const

inline

Definition at line 165 of file motion-dense.hpp.

◆ pequ() [1/3]

template<typename _Scalar, int _Options>

MotionTpl & __pequ__ ( const MotionDense< M1 > & v )

inline

Definition at line 183 of file motion-dense.hpp.

◆ pequ() [2/3]

template<typename _Scalar, int _Options>

template<typename Vector6ArgType>

MotionTpl & __pequ__ ( const MotionRef< Vector6ArgType > & v )

inline

Definition at line 223 of file motion-tpl.hpp.

◆ pequ() [3/3]

template<typename _Scalar, int _Options>

template<int O2>

MotionTpl & __pequ__ ( const MotionTpl< Scalar, O2 > & v )

inline

Definition at line 216 of file motion-tpl.hpp.

◆ plus() [1/3]

template<typename _Scalar, int _Options>

MotionPlain __plus__ ( const MotionDense< M1 > & v ) const

inline

Definition at line 171 of file motion-dense.hpp.

◆ plus() [2/3]

template<typename _Scalar, int _Options>

template<typename Vector6ArgType>

MotionPlain __plus__ ( const MotionRef< Vector6ArgType > & v ) const

inline

Definition at line 198 of file motion-tpl.hpp.

◆ plus() [3/3]

template<typename _Scalar, int _Options>

template<int O2>

MotionPlain __plus__ ( const MotionTpl< Scalar, O2 > & v ) const

inline

Definition at line 192 of file motion-tpl.hpp.

◆ angular_impl() [1/3]

template<typename _Scalar, int _Options>

AngularType angular_impl ( )

inline

Definition at line 168 of file motion-tpl.hpp.

◆ angular_impl() [2/3]

template<typename _Scalar, int _Options>

ConstAngularType angular_impl ( ) const

inline

Definition at line 160 of file motion-tpl.hpp.

◆ angular_impl() [3/3]

template<typename _Scalar, int _Options>

template<typename V3>

void angular_impl ( const Eigen::MatrixBase< V3 > & w )

inline

Definition at line 178 of file motion-tpl.hpp.

◆ cast()

template<typename _Scalar, int _Options>

template<typename NewScalar>

MotionTpl< NewScalar, Options > cast ( ) const

inline

Returns: An expression of *this with the Scalar type casted to NewScalar.

Definition at line 256 of file motion-tpl.hpp.

◆ linear_impl() [1/3]

template<typename _Scalar, int _Options>

LinearType linear_impl ( )

inline

Definition at line 172 of file motion-tpl.hpp.

◆ linear_impl() [2/3]

template<typename _Scalar, int _Options>

ConstLinearType linear_impl ( ) const

inline

Definition at line 164 of file motion-tpl.hpp.

◆ linear_impl() [3/3]

template<typename _Scalar, int _Options>

template<typename V3>

void linear_impl ( const Eigen::MatrixBase< V3 > & v )

inline

Definition at line 184 of file motion-tpl.hpp.

◆ operator=() [1/5]

template<typename _Scalar, int _Options>

MotionTpl & operator= ( const Eigen::MatrixBase< V6 > & v )

inline

Definition at line 123 of file motion-dense.hpp.

◆ operator=() [2/5]

template<typename _Scalar, int _Options>

MotionTpl & operator= ( const MotionBase< D2 > & other )

inline

Definition at line 116 of file motion-dense.hpp.

◆ operator=() [3/5]

template<typename _Scalar, int _Options>

MotionTpl & operator= ( const MotionDense & other )

inline

Definition at line 102 of file motion-dense.hpp.

◆ operator=() [4/5]

template<typename _Scalar, int _Options>

MotionTpl & operator= ( const MotionDense< D2 > & other )

inline

Definition at line 97 of file motion-dense.hpp.

◆ operator=() [5/5]

template<typename _Scalar, int _Options>

MotionTpl & operator= ( const MotionTpl< _Scalar, _Options > & clone )

inline

Copy assignment operator.

Parameters

[in] other MotionTpl to copy

Definition at line 129 of file motion-tpl.hpp.

◆ plain()

template<typename _Scalar, int _Options>

PlainReturnType plain ( ) const

inline

Definition at line 145 of file motion-tpl.hpp.

◆ Random()

template<typename _Scalar, int _Options>

MotionTpl Random ( )

inlinestatic

Definition at line 140 of file motion-tpl.hpp.

◆ ref()

template<typename _Scalar, int _Options>

MotionRef< Vector6 > ref ( )

inline

Definition at line 249 of file motion-tpl.hpp.

◆ toVector_impl() [1/2]

template<typename _Scalar, int _Options>

ToVectorReturnType toVector_impl ( )

inline

Definition at line 154 of file motion-tpl.hpp.

◆ toVector_impl() [2/2]

template<typename _Scalar, int _Options>

ToVectorConstReturnType toVector_impl ( ) const

inline

Definition at line 150 of file motion-tpl.hpp.

◆ Zero()

template<typename _Scalar, int _Options>

MotionTpl Zero ( )

inlinestatic

Definition at line 136 of file motion-tpl.hpp.

Member Data Documentation

◆ m_data

template<typename _Scalar, int _Options>

Vector6 m_data

protected

Definition at line 264 of file motion-tpl.hpp.

The documentation for this class was generated from the following files:

include/pinocchio/context/casadi.hpp
include/pinocchio/spatial/motion-tpl.hpp

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Base

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ MotionTpl() [1/8]

◆ MotionTpl() [2/8]

◆ MotionTpl() [3/8]

◆ MotionTpl() [4/8]

◆ MotionTpl() [5/8]

◆ MotionTpl() [6/8]

◆ MotionTpl() [7/8]

◆ MotionTpl() [8/8]

Member Function Documentation

◆ __mequ__() [1/3]

◆ __mequ__() [2/3]

◆ __mequ__() [3/3]

◆ __minus__() [1/3]

◆ __minus__() [2/3]

◆ __minus__() [3/3]

◆ __mult__()

◆ __opposite__()

◆ __pequ__() [1/3]

◆ __pequ__() [2/3]

◆ __pequ__() [3/3]

◆ __plus__() [1/3]

◆ __plus__() [2/3]

◆ __plus__() [3/3]

◆ angular_impl() [1/3]

◆ angular_impl() [2/3]

◆ angular_impl() [3/3]

◆ cast()

◆ linear_impl() [1/3]

◆ linear_impl() [2/3]

◆ linear_impl() [3/3]

◆ operator=() [1/5]

◆ operator=() [2/5]

◆ operator=() [3/5]

◆ operator=() [4/5]

◆ operator=() [5/5]

◆ plain()

◆ Random()

◆ ref()

◆ toVector_impl() [1/2]

◆ toVector_impl() [2/2]

◆ Zero()

Member Data Documentation

◆ m_data

◆ mequ() [1/3]

◆ mequ() [2/3]

◆ mequ() [3/3]

◆ minus() [1/3]

◆ minus() [2/3]

◆ minus() [3/3]

◆ mult()

◆ opposite()

◆ pequ() [1/3]

◆ pequ() [2/3]

◆ pequ() [3/3]

◆ plus() [1/3]

◆ plus() [2/3]

◆ plus() [3/3]