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

typedef JointDataBase< JointDataMimicTpl > Base
typedef JointMimicTpl< _Scalar, _Options, JointCollectionTpl > JointDerived
typedef JointDataTpl< _Scalar, _Options, JointCollectionTpl > RefJointData
typedef RefJointData::JointDataVariant RefJointDataVariant
Public Types inherited from JointDataBase< JointDataMimicTpl< _Scalar, _Options, JointCollectionTpl > >
typedef traits< JointDataMimicTpl< _Scalar, _Options, JointCollectionTpl > >::JointDerived JointDerived
Public Types inherited from NumericalBase< JointDataMimicTpl< _Scalar, _Options, JointCollectionTpl > >
typedef traits< JointDataMimicTpl< _Scalar, _Options, JointCollectionTpl > >::Scalar Scalar

Public Member Functions

 JointDataMimicTpl (const JointDataMimicTpl &other)
 JointDataMimicTpl (const RefJointData &jdata, const Scalar &scaling, const int &nq, const int &nv)
Bias_t c_accessor () const
D_t Dinv_accessor () const
void disp (std::ostream &os) const
bool isEqual (const JointDataBase< JointDataMimicTpl > &other) const
  
bool isEqual (const JointDataBase< OtherDerived > &) const
  
bool isEqual (const JointDataMimicTpl &other) const
RefJointData & jdata ()
const RefJointData & jdata () const
ConfigVectorTypeRef joint_q_accessor ()
ConfigVectorTypeConstRef joint_q_accessor () const
TangentVectorTypeRef joint_v_accessor ()
TangentVectorTypeConstRef joint_v_accessor () const
Transformation_t M_accessor () const
JointDataMimicTpl & operator= (const JointDataMimicTpl &other)
 PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE (JointDerived)
ConfigVector_t & q_transformed ()
const ConfigVector_t & q_transformed () const
ConstraintTypeRef S_accessor ()
ConstraintTypeConstRef S_accessor () const
std::string shortname () const
D_t StU_accessor () const
U_t U_accessor () const
UD_t UDinv_accessor () const
Motion_t v_accessor () const
TangentVector_t & v_transformed ()
const TangentVector_t & v_transformed () const
Public Member Functions inherited from JointDataBase< JointDataMimicTpl< _Scalar, _Options, JointCollectionTpl > >
BiasTypeConstRef c () const
JointDataMimicTpl< _Scalar, _Options, JointCollectionTpl > & derived ()
DTypeConstRef Dinv () const
void disp (std::ostream &os) const
bool isEqual (const JointDataBase< JointDataMimicTpl< _Scalar, _Options, JointCollectionTpl > > &other) const
  
bool isNotEqual (const JointDataBase< JointDataMimicTpl< _Scalar, _Options, JointCollectionTpl > > &other) const
  
ConfigVectorTypeConstRef joint_q () const
TangentVectorTypeConstRef joint_v () const
TansformTypeConstRef M () const
bool operator!= (const JointDataBase< JointDataMimicTpl< _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< JointDataMimicTpl< _Scalar, _Options, JointCollectionTpl > >
static std::string classname ()

Public Attributes

ConfigVector_t joint_q
 original configuration vector
ConfigVector_t joint_q_transformed
 Transformed configuration vector.
TangentVector_t joint_v
 original velocity vector
TangentVector_t joint_v_transformed
 Transform velocity vector.
RefJointData m_jdata_mimicking
Constraint_t S

Friends

struct JointModelMimicTpl< _Scalar, _Options, JointCollectionTpl >

Additional Inherited Members

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

Detailed Description

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

Definition at line 369 of file joint-mimic.hpp.

Member Typedef Documentation

◆ Base

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

Definition at line 374 of file joint-mimic.hpp.

◆ JointDerived

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

Definition at line 375 of file joint-mimic.hpp.

◆ RefJointData

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
typedef JointDataTpl<_Scalar, _Options, JointCollectionTpl> RefJointData

Definition at line 378 of file joint-mimic.hpp.

◆ RefJointDataVariant

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
typedef RefJointData::JointDataVariant RefJointDataVariant

Definition at line 379 of file joint-mimic.hpp.

Constructor & Destructor Documentation

◆ JointDataMimicTpl() [1/3]

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

Definition at line 381 of file joint-mimic.hpp.

◆ JointDataMimicTpl() [2/3]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
JointDataMimicTpl(const RefJointData &jdata,
const Scalar &scaling,
const int &nq,
const int &nv )
inline

Definition at line 390 of file joint-mimic.hpp.

◆ JointDataMimicTpl() [3/3]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
JointDataMimicTpl(const JointDataMimicTpl< _Scalar, _Options, JointCollectionTpl > &other)
inline

Definition at line 401 of file joint-mimic.hpp.

Member Function Documentation

◆ c_accessor()

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
Bias_t c_accessor()const
inline

Definition at line 455 of file joint-mimic.hpp.

◆ classname()

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

Definition at line 425 of file joint-mimic.hpp.

◆ Dinv_accessor()

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
D_t Dinv_accessor()const
inline

Definition at line 465 of file joint-mimic.hpp.

◆ disp()

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

Definition at line 526 of file joint-mimic.hpp.

◆ isEqual() [1/3]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
bool isEqual(const JointDataBase< JointDataMimicTpl< _Scalar, _Options, JointCollectionTpl > > &other)const
inline

 

Default operator== implementation

Definition at line 289 of file joint-data-base.hpp.

◆ isEqual() [2/3]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
bool isEqual(const JointDataBase< OtherDerived > &)const
inline

 

Default operator== implementation

Definition at line 302 of file joint-data-base.hpp.

◆ isEqual() [3/3]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
bool isEqual(const JointDataMimicTpl< _Scalar, _Options, JointCollectionTpl > &other)const
inline

Definition at line 418 of file joint-mimic.hpp.

◆ jdata() [1/2]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
RefJointData & jdata()
inline

Definition at line 486 of file joint-mimic.hpp.

◆ jdata() [2/2]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
const RefJointData & jdata()const
inline

Definition at line 482 of file joint-mimic.hpp.

◆ joint_q_accessor() [1/2]

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

Definition at line 491 of file joint-mimic.hpp.

◆ joint_q_accessor() [2/2]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
ConfigVectorTypeConstRef joint_q_accessor()const
inline

Definition at line 495 of file joint-mimic.hpp.

◆ joint_v_accessor() [1/2]

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

Definition at line 508 of file joint-mimic.hpp.

◆ joint_v_accessor() [2/2]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
TangentVectorTypeConstRef joint_v_accessor()const
inline

Definition at line 512 of file joint-mimic.hpp.

◆ M_accessor()

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
Transformation_t M_accessor()const
inline

Definition at line 445 of file joint-mimic.hpp.

◆ operator=()

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
JointDataMimicTpl & operator=(const JointDataMimicTpl< _Scalar, _Options, JointCollectionTpl > &other)
inline

Definition at line 406 of file joint-mimic.hpp.

◆ q_transformed() [1/2]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
ConfigVector_t & q_transformed()
inline

Definition at line 500 of file joint-mimic.hpp.

◆ q_transformed() [2/2]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
const ConfigVector_t & q_transformed()const
inline

Definition at line 504 of file joint-mimic.hpp.

◆ S_accessor() [1/2]

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

Definition at line 440 of file joint-mimic.hpp.

◆ S_accessor() [2/2]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
ConstraintTypeConstRef S_accessor()const
inline

Definition at line 436 of file joint-mimic.hpp.

◆ shortname()

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

Definition at line 430 of file joint-mimic.hpp.

◆ StU_accessor()

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
D_t StU_accessor()const
inline

Definition at line 475 of file joint-mimic.hpp.

◆ U_accessor()

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
U_t U_accessor()const
inline

Definition at line 460 of file joint-mimic.hpp.

◆ UDinv_accessor()

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
UD_t UDinv_accessor()const
inline

Definition at line 470 of file joint-mimic.hpp.

◆ v_accessor()

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
Motion_t v_accessor()const
inline

Definition at line 450 of file joint-mimic.hpp.

◆ v_transformed() [1/2]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
TangentVector_t & v_transformed()
inline

Definition at line 517 of file joint-mimic.hpp.

◆ v_transformed() [2/2]

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
const TangentVector_t & v_transformed()const
inline

Definition at line 521 of file joint-mimic.hpp.

◆ JointModelMimicTpl< _Scalar, _Options, JointCollectionTpl >

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
friend struct JointModelMimicTpl< _Scalar, _Options, JointCollectionTpl >
friend

Definition at line 475 of file joint-mimic.hpp.

Member Data Documentation

◆ joint_q

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

original configuration vector

Definition at line 535 of file joint-mimic.hpp.

◆ joint_q_transformed

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

Transformed configuration vector.

Definition at line 537 of file joint-mimic.hpp.

◆ joint_v

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

original velocity vector

Definition at line 539 of file joint-mimic.hpp.

◆ joint_v_transformed

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

Transform velocity vector.

Definition at line 541 of file joint-mimic.hpp.

◆ m_jdata_mimicking

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

Definition at line 532 of file joint-mimic.hpp.

◆ S

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

Definition at line 543 of file joint-mimic.hpp.

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