pinocchio  3.9.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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JointDataCompositeTpl< _Scalar, _Options, JointCollectionTpl > Struct Template Reference
Joint
Inheritance diagram for JointDataCompositeTpl< _Scalar, _Options, JointCollectionTpl >:
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Collaboration diagram for JointDataCompositeTpl< _Scalar, _Options, JointCollectionTpl >:
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Public Types

typedef JointDataBase< JointDataCompositeTpl > Base
typedef JointDataTpl< Scalar, Options, JointCollectionTpl > JointDataVariant
typedef JointCompositeTpl< _Scalar, _Options, JointCollectionTpl > JointDerived
Public Types inherited from JointDataBase< JointDataCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
typedef traits< JointDataCompositeTpl< _Scalar, _Options, JointCollectionTpl > >::JointDerived JointDerived
Public Types inherited from NumericalBase< JointDataCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
typedef traits< JointDataCompositeTpl< _Scalar, _Options, JointCollectionTpl > >::Scalar Scalar

Public Member Functions

 JointDataCompositeTpl (const JointDataVector &joint_data, const int nq, const int nv)
void disp (std::ostream &os) const
typedef PINOCCHIO_ALIGNED_STD_VECTOR (JointDataVariant) JointDataVector
 PINOCCHIO_ALIGNED_STD_VECTOR (Transformation_t) iMlast
 Transforms from previous joint to last joint.
 PINOCCHIO_ALIGNED_STD_VECTOR (Transformation_t) pjMi
 Transforms from previous joint to joint i.
 PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE (JointDerived)
std::string shortname () const
Public Member Functions inherited from JointDataBase< JointDataCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
BiasTypeConstRef c () const
JointDataCompositeTpl< _Scalar, _Options, JointCollectionTpl > & derived ()
DTypeConstRef Dinv () const
void disp (std::ostream &os) const
bool isEqual (const JointDataBase< JointDataCompositeTpl< _Scalar, _Options, JointCollectionTpl > > &other) const
  
bool isNotEqual (const JointDataBase< JointDataCompositeTpl< _Scalar, _Options, JointCollectionTpl > > &other) const
  
ConfigVectorTypeConstRef joint_q () const
TangentVectorTypeConstRef joint_v () const
TansformTypeConstRef M () const
bool operator!= (const JointDataBase< JointDataCompositeTpl< _Scalar, _Options, JointCollectionTpl > > &other) const
bool operator== (const JointDataBase< OtherDerived > &other) const
 PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE (JointDerived)
ConstraintTypeConstRef S () const
std::string shortname () const
DTypeConstRef StU () const
UTypeConstRef U () const
UDTypeConstRef UDinv () const
MotionTypeConstRef v () const

Static Public Member Functions

static std::string classname ()
Static Public Member Functions inherited from JointDataBase< JointDataCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
static std::string classname ()

Public Attributes

Bias_t c
D_t Dinv
ConfigVector_t joint_q
TangentVector_t joint_v
PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR typedef JointCollectionTpl< Scalar, Options > JointCollection
JointDataVector joints
 Vector of joints.
Transformation_t M
Constraint_t S
D_t StU
U_t U
UD_t UDinv
Motion_t v

Additional Inherited Members

Protected Member Functions inherited from JointDataBase< JointDataCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
 JointDataBase ()
 Default constructor: protected.

Detailed Description

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
struct pinocchio::JointDataCompositeTpl< _Scalar, _Options, JointCollectionTpl >

Definition at line 71 of file joint-composite.hpp.

Member Typedef Documentation

◆ Base

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
typedef JointDataBase<JointDataCompositeTpl> Base

Definition at line 76 of file joint-composite.hpp.

◆ JointDataVariant

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
typedef JointDataTpl<Scalar, Options, JointCollectionTpl> JointDataVariant

Definition at line 82 of file joint-composite.hpp.

◆ JointDerived

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
typedef JointCompositeTpl<_Scalar, _Options, JointCollectionTpl> JointDerived

Definition at line 77 of file joint-composite.hpp.

Constructor & Destructor Documentation

◆ JointDataCompositeTpl() [1/2]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
JointDataCompositeTpl()
inline

Definition at line 88 of file joint-composite.hpp.

◆ JointDataCompositeTpl() [2/2]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
JointDataCompositeTpl(const JointDataVector &joint_data,
const intnq,
const intnv )
inline

Definition at line 105 of file joint-composite.hpp.

Member Function Documentation

◆ classname()

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
std::string classname()
inlinestatic

Definition at line 145 of file joint-composite.hpp.

◆ disp()

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
void disp(std::ostream &os)const
inline

Definition at line 154 of file joint-composite.hpp.

◆ shortname()

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
std::string shortname()const
inline

Definition at line 149 of file joint-composite.hpp.

Member Data Documentation

◆ c

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
Bias_t c

Definition at line 137 of file joint-composite.hpp.

◆ Dinv

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
D_t Dinv

Definition at line 141 of file joint-composite.hpp.

◆ joint_q

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
ConfigVector_t joint_q

Definition at line 131 of file joint-composite.hpp.

◆ joint_v

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
TangentVector_t joint_v

Definition at line 132 of file joint-composite.hpp.

◆ JointCollection

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR typedef JointCollectionTpl<Scalar, Options> JointCollection

Definition at line 81 of file joint-composite.hpp.

◆ joints

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
JointDataVector joints

Vector of joints.

Definition at line 123 of file joint-composite.hpp.

◆ M

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
Transformation_t M

Definition at line 135 of file joint-composite.hpp.

◆ S

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
Constraint_t S

Definition at line 134 of file joint-composite.hpp.

◆ StU

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
D_t StU

Definition at line 143 of file joint-composite.hpp.

◆ U

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
U_t U

Definition at line 140 of file joint-composite.hpp.

◆ UDinv

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
UD_t UDinv

Definition at line 142 of file joint-composite.hpp.

◆ v

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
Motion_t v

Definition at line 136 of file joint-composite.hpp.

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