ConstraintModelTpl< _Scalar, _Options, ConstraintCollectionTpl > Struct Template Reference

Inheritance diagram for ConstraintModelTpl< _Scalar, _Options, ConstraintCollectionTpl >:

Collaboration diagram for ConstraintModelTpl< _Scalar, _Options, ConstraintCollectionTpl >:

Public Types
enum	{ Options = _Options }
typedef ConstraintModelBase< ConstraintModelTpl< _Scalar, _Options, ConstraintCollectionTpl > >	Base
typedef ConstraintCollectionTpl< Scalar, Options >	ConstraintCollection
typedef ConstraintDataTpl< Scalar, Options, ConstraintCollectionTpl >	ConstraintData
typedef ConstraintCollection::ConstraintDataVariant	ConstraintDataVariant
typedef ConstraintCollection::ConstraintModelVariant	ConstraintModelVariant
typedef _Scalar	Scalar
Public Types inherited from ConstraintModelBase< ConstraintModelTpl< _Scalar, _Options, ConstraintCollectionTpl > >
enum
typedef Eigen::Matrix< bool, Eigen::Dynamic, 1, Options >	BooleanVector
typedef traits< ConstraintModelTpl< _Scalar, _Options, ConstraintCollectionTpl > >::ConstraintData	ConstraintData
typedef std::vector< Eigen::DenseIndex >	IndexVector
typedef traits< ConstraintModelTpl< _Scalar, _Options, ConstraintCollectionTpl > >::Scalar	Scalar
Public Types inherited from NumericalBase< Derived >
typedef traits< Derived >::Scalar	Scalar

Public Member Functions
template<typename ContraintModelDerived>
	ConstraintModelTpl (const ConstraintModelBase< ContraintModelDerived > &cmodel)
	ConstraintModelTpl (const ConstraintModelVariant &cmodel_variant)
ConstraintData	createData () const
Public Member Functions inherited from ConstraintModelBase< ConstraintModelTpl< _Scalar, _Options, ConstraintCollectionTpl > >
void	calc (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, ConstraintData &cdata) const
	Evaluate the constraint values at the current state given by data and store the results in cdata.
CastType< NewScalar, ConstraintModelTpl< _Scalar, _Options, ConstraintCollectionTpl > >::type	cast () const
ConstraintData	createData () const
ConstraintModelTpl< _Scalar, _Options, ConstraintCollectionTpl > &	derived ()
const ConstraintModelTpl< _Scalar, _Options, ConstraintCollectionTpl > &	derived () const
void	jacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, ConstraintData &cdata, const Eigen::MatrixBase< JacobianMatrix > &jacobian_matrix) const
ConstraintModelBase &	operator= (const ConstraintModelBase< OtherDerived > &other)
bool	operator== (const ConstraintModelBase< OtherDerived > &other) const

Additional Inherited Members
Public Attributes inherited from ConstraintModelBase< ConstraintModelTpl< _Scalar, _Options, ConstraintCollectionTpl > >
IndexVector	colwise_span_indexes
	Indexes of the columns spanned by the constraints.
BooleanVector	colwise_sparsity
	Sparsity pattern associated to the constraint;.
std::string	name
	Name of the constraint.
Protected Member Functions inherited from ConstraintModelBase< ConstraintModelTpl< _Scalar, _Options, ConstraintCollectionTpl > >
	ConstraintModelBase ()
	Default constructor.
	ConstraintModelBase (const ModelTpl< Scalar, Options, JointCollectionTpl > &model)
ConstraintModelBase &	base ()
const ConstraintModelBase &	base () const

Detailed Description

template<typename _Scalar, int _Options, template< typename S, int O > class ConstraintCollectionTpl>
struct pinocchio::ConstraintModelTpl< _Scalar, _Options, ConstraintCollectionTpl >

Definition at line 34 of file constraint-model-generic.hpp.

Member Typedef Documentation

Base

template<typename _Scalar, int _Options, template< typename S, int O > class ConstraintCollectionTpl>

typedef ConstraintModelBase<ConstraintModelTpl<_Scalar, _Options, ConstraintCollectionTpl> > Base

Definition at line 45 of file constraint-model-generic.hpp.

ConstraintCollection

template<typename _Scalar, int _Options, template< typename S, int O > class ConstraintCollectionTpl>

typedef ConstraintCollectionTpl<Scalar, Options> ConstraintCollection

Definition at line 47 of file constraint-model-generic.hpp.

ConstraintData

template<typename _Scalar, int _Options, template< typename S, int O > class ConstraintCollectionTpl>

typedef ConstraintDataTpl<Scalar, Options, ConstraintCollectionTpl> ConstraintData

Definition at line 46 of file constraint-model-generic.hpp.

ConstraintDataVariant

template<typename _Scalar, int _Options, template< typename S, int O > class ConstraintCollectionTpl>

typedef ConstraintCollection::ConstraintDataVariant ConstraintDataVariant

Definition at line 48 of file constraint-model-generic.hpp.

ConstraintModelVariant

template<typename _Scalar, int _Options, template< typename S, int O > class ConstraintCollectionTpl>

typedef ConstraintCollection::ConstraintModelVariant ConstraintModelVariant

Definition at line 49 of file constraint-model-generic.hpp.

Scalar

template<typename _Scalar, int _Options, template< typename S, int O > class ConstraintCollectionTpl>

typedef _Scalar Scalar

Definition at line 38 of file constraint-model-generic.hpp.

Member Enumeration Documentation

anonymous enum

template<typename _Scalar, int _Options, template< typename S, int O > class ConstraintCollectionTpl>

anonymous enum

Definition at line 39 of file constraint-model-generic.hpp.

Constructor & Destructor Documentation

ConstraintModelTpl() [1/3]

template<typename _Scalar, int _Options, template< typename S, int O > class ConstraintCollectionTpl>

ConstraintModelTpl ( )

inline

Definition at line 51 of file constraint-model-generic.hpp.

ConstraintModelTpl() [2/3]

template<typename _Scalar, int _Options, template< typename S, int O > class ConstraintCollectionTpl>

ConstraintModelTpl ( const ConstraintModelVariant & cmodel_variant )

inline

Definition at line 56 of file constraint-model-generic.hpp.

ConstraintModelTpl() [3/3]

template<typename _Scalar, int _Options, template< typename S, int O > class ConstraintCollectionTpl>

template<typename ContraintModelDerived>

ConstraintModelTpl ( const ConstraintModelBase< ContraintModelDerived > & cmodel )

inline

Definition at line 62 of file constraint-model-generic.hpp.

Member Function Documentation

createData()

template<typename _Scalar, int _Options, template< typename S, int O > class ConstraintCollectionTpl>

ConstraintData createData ( ) const

inline

Definition at line 69 of file constraint-model-generic.hpp.

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The documentation for this struct was generated from the following file:

• include/pinocchio/algorithm/constraints/constraint-model-generic.hpp