JointModelBase< Derived > Struct Template Reference

Inherits NumericalBase< Derived >.

Inherited by JointModelCompositeTpl< Scalar >, JointModelCompositeTpl< context::Scalar >, JointModelCompositeTpl< Scalar, Options, ::pinocchio::JointCollectionDefaultTpl >, JointModelCompositeTpl< Scalar, Options, JointCollectionTpl >, JointModelCompositeTpl< NewScalar, Options, JointCollectionTpl >, JointModelEllipsoidTpl< Scalar, Options >, JointModelEllipsoidTpl< context::Scalar >, JointModelFreeFlyerTpl< Scalar >, JointModelFreeFlyerTpl< context::Scalar >, JointModelFreeFlyerTpl< Scalar, Options >, JointModelHelicalTpl< Scalar, Options, 0 >, JointModelHelicalTpl< Scalar, Options, 1 >, JointModelHelicalTpl< Scalar, Options, 2 >, JointModelHelicalTpl< Scalar, Options, axis >, JointModelHelicalTpl< NewScalar, Options, axis >, JointModelHelicalTpl< context::Scalar, context::Options, 0 >, JointModelHelicalTpl< context::Scalar, context::Options, 1 >, JointModelHelicalTpl< context::Scalar, context::Options, 2 >, JointModelHelicalUnalignedTpl< Scalar >, JointModelHelicalUnalignedTpl< context::Scalar >, JointModelHelicalUnalignedTpl< Scalar, Options >, JointModelMimicTpl< Scalar >, JointModelMimicTpl< context::Scalar >, JointModelMimicTpl< Scalar, Options, ::pinocchio::JointCollectionDefaultTpl >, JointModelMimicTpl< Scalar, Options, JointCollectionTpl >, JointModelMimicTpl< NewScalar, Options, JointCollectionTpl >, JointModelPlanarTpl< Scalar >, JointModelPlanarTpl< context::Scalar >, JointModelPlanarTpl< Scalar, Options >, JointModelPrismaticTpl< Scalar, Options, 0 >, JointModelPrismaticTpl< Scalar, Options, 1 >, JointModelPrismaticTpl< Scalar, Options, 2 >, JointModelPrismaticTpl< Scalar, Options, axis >, JointModelPrismaticTpl< NewScalar, Options, axis >, JointModelPrismaticTpl< context::Scalar, context::Options, 0 >, JointModelPrismaticTpl< context::Scalar, context::Options, 1 >, JointModelPrismaticTpl< context::Scalar, context::Options, 2 >, JointModelPrismaticUnalignedTpl< Scalar >, JointModelPrismaticUnalignedTpl< context::Scalar >, JointModelPrismaticUnalignedTpl< Scalar, Options >, JointModelRevoluteTpl< Scalar, Options, 0 >, JointModelRevoluteTpl< Scalar, Options, 1 >, JointModelRevoluteTpl< Scalar, Options, 2 >, JointModelRevoluteTpl< Scalar, Options, axis >, JointModelRevoluteTpl< NewScalar, Options, axis >, JointModelRevoluteTpl< context::Scalar, context::Options, 0 >, JointModelRevoluteTpl< context::Scalar, context::Options, 1 >, JointModelRevoluteTpl< context::Scalar, context::Options, 2 >, JointModelRevoluteUnalignedTpl< Scalar >, JointModelRevoluteUnalignedTpl< context::Scalar >, JointModelRevoluteUnalignedTpl< Scalar, Options >, JointModelRevoluteUnboundedTpl< Scalar, Options, 0 >, JointModelRevoluteUnboundedTpl< Scalar, Options, 1 >, JointModelRevoluteUnboundedTpl< Scalar, Options, 2 >, JointModelRevoluteUnboundedTpl< Scalar, Options, axis >, JointModelRevoluteUnboundedTpl< NewScalar, Options, axis >, JointModelRevoluteUnboundedTpl< context::Scalar, context::Options, 0 >, JointModelRevoluteUnboundedTpl< context::Scalar, context::Options, 1 >, JointModelRevoluteUnboundedTpl< context::Scalar, context::Options, 2 >, JointModelRevoluteUnboundedUnalignedTpl< Scalar >, JointModelRevoluteUnboundedUnalignedTpl< context::Scalar >, JointModelRevoluteUnboundedUnalignedTpl< Scalar, Options >, JointModelSphericalTpl< Scalar >, JointModelSphericalTpl< context::Scalar >, JointModelSphericalTpl< Scalar, Options >, JointModelSphericalZYXTpl< Scalar >, JointModelSphericalZYXTpl< context::Scalar >, JointModelSphericalZYXTpl< Scalar, Options >, JointModelTpl< Scalar, Options >, JointModelTpl< Scalar, Options, JointCollectionTpl >, JointModelTpl< context::Scalar >, JointModelTpl< NewScalar, Options, JointCollectionTpl >, JointModelTranslationTpl< Scalar >, JointModelTranslationTpl< context::Scalar >, JointModelTranslationTpl< Scalar, Options >, JointModelUniversalTpl< Scalar >, JointModelUniversalTpl< context::Scalar >, and JointModelUniversalTpl< Scalar, Options >.

Collaboration diagram for JointModelBase< Derived >:

Public Types
typedef traits< Derived >::JointDerived	JointDerived
Public Types inherited from NumericalBase< Derived >
typedef traits< Derived >::Scalar	Scalar

Public Member Functions
template<typename TangentVectorType>
void	calc (JointDataDerived &data, const Blank not_used, const Eigen::MatrixBase< TangentVectorType > &vs) const
template<typename ConfigVectorType>
void	calc (JointDataDerived &data, const Eigen::MatrixBase< ConfigVectorType > &qs) const
template<typename ConfigVectorType, typename TangentVectorType>
void	calc (JointDataDerived &data, const Eigen::MatrixBase< ConfigVectorType > &qs, const Eigen::MatrixBase< TangentVectorType > &vs) const
template<typename VectorLike, typename Matrix6Like>
void	calc_aba (JointDataDerived &data, const Eigen::MatrixBase< VectorLike > &armature, const Eigen::MatrixBase< Matrix6Like > &I, const bool update_I=false) const
template<typename NewScalar>
CastType< NewScalar, Derived >::type	cast () const
JointDataDerived	createData () const
JointModelDerived &	derived ()
const JointModelDerived &	derived () const
void	disp (std::ostream &os) const
const std::vector< bool >	hasConfigurationLimit () const
const std::vector< bool >	hasConfigurationLimitInTangent () const
template<class OtherDerived>
bool	hasSameIndexes (const JointModelBase< OtherDerived > &other) const
JointIndex	id () const
JointIndex	id_impl () const
int	idx_q () const
int	idx_q_impl () const
int	idx_v () const
int	idx_v_impl () const
int	idx_vExtended () const
int	idx_vExtended_impl () const
bool	isEqual (const JointModelBase< Derived > &other) const
template<class OtherDerived>
bool	isEqual (const JointModelBase< OtherDerived > &) const
template<typename D>
SizeDepType< NV >::template BlockReturn< D >::ConstType	jointBlock (const Eigen::MatrixBase< D > &Mat) const
	Returns a block of dimension nv()xnv() located at position idx_v(),idx_v() in the matrix Mat.
template<typename D>
SizeDepType< NV >::template BlockReturn< D >::Type	jointBlock (Eigen::MatrixBase< D > &Mat) const
template<typename D>
SizeDepType< NV >::template BlockReturn< D >::ConstType	jointBlock_impl (const Eigen::MatrixBase< D > &Mat) const
template<typename D>
SizeDepType< NV >::template BlockReturn< D >::Type	jointBlock_impl (Eigen::MatrixBase< D > &Mat) const
template<typename D>
SizeDepType< NV >::template ColsReturn< D >::ConstType	jointCols (const Eigen::MatrixBase< D > &A) const
template<typename D>
SizeDepType< NV >::template ColsReturn< D >::Type	jointCols (Eigen::MatrixBase< D > &A) const
template<typename D>
SizeDepType< NV >::template ColsReturn< D >::ConstType	jointCols_impl (const Eigen::MatrixBase< D > &A) const
template<typename D>
SizeDepType< NV >::template ColsReturn< D >::Type	jointCols_impl (Eigen::MatrixBase< D > &A) const
template<typename D>
SizeDepType< NQ >::template SegmentReturn< D >::ConstType	jointConfigSelector (const Eigen::MatrixBase< D > &a) const
template<typename D>
SizeDepType< NQ >::template SegmentReturn< D >::Type	jointConfigSelector (Eigen::MatrixBase< D > &a) const
template<typename D>
SizeDepType< NQ >::template SegmentReturn< D >::ConstType	jointConfigSelector_impl (const Eigen::MatrixBase< D > &a) const
template<typename D>
SizeDepType< NQ >::template SegmentReturn< D >::Type	jointConfigSelector_impl (Eigen::MatrixBase< D > &a) const
template<typename D>
SizeDepType< NVExtended >::template BlockReturn< D >::ConstType	jointExtendedModelBlock (const Eigen::MatrixBase< D > &Mat) const
template<typename D>
SizeDepType< NVExtended >::template BlockReturn< D >::Type	jointExtendedModelBlock (Eigen::MatrixBase< D > &Mat) const
template<typename D>
SizeDepType< NVExtended >::template BlockReturn< D >::ConstType	jointExtendedModelBlock_impl (const Eigen::MatrixBase< D > &Mat) const
template<typename D>
SizeDepType< NVExtended >::template BlockReturn< D >::Type	jointExtendedModelBlock_impl (Eigen::MatrixBase< D > &Mat) const
template<typename D>
SizeDepType< NVExtended >::template ColsReturn< D >::ConstType	jointExtendedModelCols (const Eigen::MatrixBase< D > &A) const
template<typename D>
SizeDepType< NVExtended >::template ColsReturn< D >::Type	jointExtendedModelCols (Eigen::MatrixBase< D > &A) const
template<typename D>
SizeDepType< NVExtended >::template ColsReturn< D >::ConstType	jointExtendedModelCols_impl (const Eigen::MatrixBase< D > &A) const
template<typename D>
SizeDepType< NVExtended >::template ColsReturn< D >::Type	jointExtendedModelCols_impl (Eigen::MatrixBase< D > &A) const
template<typename D>
SizeDepType< NVExtended >::template RowsReturn< D >::ConstType	jointExtendedModelRows (const Eigen::MatrixBase< D > &A) const
template<typename D>
SizeDepType< NVExtended >::template RowsReturn< D >::Type	jointExtendedModelRows (Eigen::MatrixBase< D > &A) const
template<typename D>
SizeDepType< NVExtended >::template RowsReturn< D >::ConstType	jointExtendedModelRows_impl (const Eigen::MatrixBase< D > &A) const
template<typename D>
SizeDepType< NVExtended >::template RowsReturn< D >::Type	jointExtendedModelRows_impl (Eigen::MatrixBase< D > &A) const
template<typename D>
SizeDepType< NQ >::template SegmentReturn< D >::ConstType	JointMappedConfigSelector (const Eigen::MatrixBase< D > &a) const
template<typename D>
SizeDepType< NQ >::template SegmentReturn< D >::Type	JointMappedConfigSelector (Eigen::MatrixBase< D > &a) const
template<typename D>
SizeDepType< NQ >::template SegmentReturn< D >::ConstType	JointMappedConfigSelector_impl (const Eigen::MatrixBase< D > &a) const
template<typename D>
SizeDepType< NQ >::template SegmentReturn< D >::Type	JointMappedConfigSelector_impl (Eigen::MatrixBase< D > &a) const
template<typename D>
SizeDepType< NV >::template SegmentReturn< D >::ConstType	JointMappedVelocitySelector (const Eigen::MatrixBase< D > &a) const
template<typename D>
SizeDepType< NV >::template SegmentReturn< D >::Type	JointMappedVelocitySelector (Eigen::MatrixBase< D > &a) const
template<typename D>
SizeDepType< NV >::template SegmentReturn< D >::ConstType	JointMappedVelocitySelector_impl (const Eigen::MatrixBase< D > &a) const
template<typename D>
SizeDepType< NV >::template SegmentReturn< D >::Type	JointMappedVelocitySelector_impl (Eigen::MatrixBase< D > &a) const
template<typename D>
SizeDepType< NV >::template RowsReturn< D >::ConstType	jointRows (const Eigen::MatrixBase< D > &A) const
template<typename D>
SizeDepType< NV >::template RowsReturn< D >::Type	jointRows (Eigen::MatrixBase< D > &A) const
template<typename D>
SizeDepType< NV >::template RowsReturn< D >::ConstType	jointRows_impl (const Eigen::MatrixBase< D > &A) const
template<typename D>
SizeDepType< NV >::template RowsReturn< D >::Type	jointRows_impl (Eigen::MatrixBase< D > &A) const
template<typename D>
SizeDepType< NV >::template SegmentReturn< D >::ConstType	jointVelocitySelector (const Eigen::MatrixBase< D > &a) const
template<typename D>
SizeDepType< NV >::template SegmentReturn< D >::Type	jointVelocitySelector (Eigen::MatrixBase< D > &a) const
template<typename D>
SizeDepType< NV >::template SegmentReturn< D >::ConstType	jointVelocitySelector_impl (const Eigen::MatrixBase< D > &a) const
template<typename D>
SizeDepType< NV >::template SegmentReturn< D >::Type	jointVelocitySelector_impl (Eigen::MatrixBase< D > &a) const
int	nq () const
int	nq_impl () const
int	nv () const
int	nv_impl () const
int	nvExtended () const
int	nvExtended_impl () const
template<class OtherDerived>
bool	operator!= (const JointModelBase< OtherDerived > &other) const
template<class OtherDerived>
bool	operator== (const JointModelBase< OtherDerived > &other) const
	PINOCCHIO_JOINT_TYPEDEF_TEMPLATE (JointDerived)
void	setIndexes (JointIndex id, int q, int v)
void	setIndexes (JointIndex id, int q, int v, int vExtended)
void	setIndexes_impl (JointIndex id, int q, int v, int vExtended)
std::string	shortname () const

Static Public Member Functions
static std::string	classname ()

Protected Member Functions
	JointModelBase ()
	JointModelBase (const JointModelBase &clone)
JointModelBase &	operator= (const JointModelBase &clone)

Protected Attributes
JointIndex	i_id
int	i_q
int	i_v
int	i_vExtended

Friends
std::ostream &	operator<< (std::ostream &os, const JointModelBase< Derived > &jmodel)

Detailed Description

template<typename Derived>
struct pinocchio::JointModelBase< Derived >

Definition at line 78 of file joint-model-base.hpp.

Member Typedef Documentation

JointDerived

template<typename Derived>

typedef traits<Derived>::JointDerived JointDerived

Definition at line 82 of file joint-model-base.hpp.

Constructor & Destructor Documentation

JointModelBase() [1/2]

template<typename Derived>

JointModelBase ( )

inlineprotected

Default constructor: protected.

Prevent the construction of stand-alone JointModelBase.

Definition at line 593 of file joint-model-base.hpp.

JointModelBase() [2/2]

template<typename Derived>

JointModelBase ( const JointModelBase< Derived > & clone )

inlineprotected

Copy constructor: protected.

Copy of stand-alone JointModelBase are prevented, but can be used from inhereting objects. Copy is done by calling copy operator.

Definition at line 605 of file joint-model-base.hpp.

Member Function Documentation

calc() [1/3]

template<typename Derived>

template<typename TangentVectorType>

void calc ( JointDataDerived & data, const Blank not_used, const Eigen::MatrixBase< TangentVectorType > & vs ) const

inline

Definition at line 116 of file joint-model-base.hpp.

calc() [2/3]

template<typename Derived>

template<typename ConfigVectorType>

void calc ( JointDataDerived & data, const Eigen::MatrixBase< ConfigVectorType > & qs ) const

inline

Definition at line 110 of file joint-model-base.hpp.

calc() [3/3]

template<typename Derived>

template<typename ConfigVectorType, typename TangentVectorType>

void calc ( JointDataDerived & data, const Eigen::MatrixBase< ConfigVectorType > & qs, const Eigen::MatrixBase< TangentVectorType > & vs ) const

inline

Definition at line 125 of file joint-model-base.hpp.

calc_aba()

template<typename Derived>

template<typename VectorLike, typename Matrix6Like>

void calc_aba ( JointDataDerived & data, const Eigen::MatrixBase< VectorLike > & armature, const Eigen::MatrixBase< Matrix6Like > & I, const bool update_I = false ) const

inline

Definition at line 134 of file joint-model-base.hpp.

cast()

template<typename Derived>

template<typename NewScalar>

CastType< NewScalar, Derived >::type cast ( ) const

inline

Definition at line 251 of file joint-model-base.hpp.

classname()

template<typename Derived>

std::string classname ( )

inlinestatic

Definition at line 245 of file joint-model-base.hpp.

createData()

template<typename Derived>

JointDataDerived createData ( ) const

inline

Definition at line 94 of file joint-model-base.hpp.

derived() [1/2]

template<typename Derived>

JointModelDerived & derived ( )

inline

Definition at line 85 of file joint-model-base.hpp.

derived() [2/2]

template<typename Derived>

const JointModelDerived & derived ( ) const

inline

Definition at line 89 of file joint-model-base.hpp.

disp()

template<typename Derived>

void disp ( std::ostream & os ) const

inline

Definition at line 222 of file joint-model-base.hpp.

hasConfigurationLimit()

template<typename Derived>

const std::vector< bool > hasConfigurationLimit ( ) const

inline

Definition at line 99 of file joint-model-base.hpp.

hasConfigurationLimitInTangent()

template<typename Derived>

const std::vector< bool > hasConfigurationLimitInTangent ( ) const

inline

Definition at line 104 of file joint-model-base.hpp.

hasSameIndexes()

template<typename Derived>

template<class OtherDerived>

bool hasSameIndexes ( const JointModelBase< OtherDerived > & other ) const

inline

Definition at line 280 of file joint-model-base.hpp.

id()

template<typename Derived>

JointIndex id ( ) const

inline

Definition at line 183 of file joint-model-base.hpp.

id_impl()

template<typename Derived>

JointIndex id_impl ( ) const

inline

Definition at line 200 of file joint-model-base.hpp.

idx_q()

template<typename Derived>

int idx_q ( ) const

inline

Definition at line 171 of file joint-model-base.hpp.

idx_q_impl()

template<typename Derived>

int idx_q_impl ( ) const

inline

Definition at line 188 of file joint-model-base.hpp.

idx_v()

template<typename Derived>

int idx_v ( ) const

inline

Definition at line 175 of file joint-model-base.hpp.

idx_v_impl()

template<typename Derived>

int idx_v_impl ( ) const

inline

Definition at line 192 of file joint-model-base.hpp.

idx_vExtended()

template<typename Derived>

int idx_vExtended ( ) const

inline

Definition at line 179 of file joint-model-base.hpp.

idx_vExtended_impl()

template<typename Derived>

int idx_vExtended_impl ( ) const

inline

Definition at line 196 of file joint-model-base.hpp.

isEqual() [1/2]

template<typename Derived>

bool isEqual ( const JointModelBase< Derived > & other ) const

inline

Definition at line 274 of file joint-model-base.hpp.

isEqual() [2/2]

template<typename Derived>

template<class OtherDerived>

bool isEqual ( const JointModelBase< OtherDerived > & ) const

inline

Definition at line 269 of file joint-model-base.hpp.

jointBlock() [1/2]

template<typename Derived>

template<typename D>

SizeDepType< NV >::template BlockReturn< D >::ConstType jointBlock ( const Eigen::MatrixBase< D > & Mat ) const

inline

Returns a block of dimension nv()xnv() located at position idx_v(),idx_v() in the matrix Mat.

Definition at line 532 of file joint-model-base.hpp.

jointBlock() [2/2]

template<typename Derived>

template<typename D>

SizeDepType< NV >::template BlockReturn< D >::Type jointBlock ( Eigen::MatrixBase< D > & Mat ) const

inline

Definition at line 562 of file joint-model-base.hpp.

jointBlock_impl() [1/2]

template<typename Derived>

template<typename D>

SizeDepType< NV >::template BlockReturn< D >::ConstType jointBlock_impl ( const Eigen::MatrixBase< D > & Mat ) const

inline

Definition at line 546 of file joint-model-base.hpp.

jointBlock_impl() [2/2]

template<typename Derived>

template<typename D>

SizeDepType< NV >::template BlockReturn< D >::Type jointBlock_impl ( Eigen::MatrixBase< D > & Mat ) const

inline

Definition at line 576 of file joint-model-base.hpp.

jointCols() [1/2]

template<typename Derived>

template<typename D>

SizeDepType< NV >::template ColsReturn< D >::ConstType jointCols ( const Eigen::MatrixBase< D > & A ) const

inline

Definition at line 414 of file joint-model-base.hpp.

jointCols() [2/2]

template<typename Derived>

template<typename D>

SizeDepType< NV >::template ColsReturn< D >::Type jointCols ( Eigen::MatrixBase< D > & A ) const

inline

Definition at line 443 of file joint-model-base.hpp.

jointCols_impl() [1/2]

template<typename Derived>

template<typename D>

SizeDepType< NV >::template ColsReturn< D >::ConstType jointCols_impl ( const Eigen::MatrixBase< D > & A ) const

inline

Definition at line 428 of file joint-model-base.hpp.

jointCols_impl() [2/2]

template<typename Derived>

template<typename D>

SizeDepType< NV >::template ColsReturn< D >::Type jointCols_impl ( Eigen::MatrixBase< D > & A ) const

inline

Definition at line 457 of file joint-model-base.hpp.

jointConfigSelector() [1/2]

template<typename Derived>

template<typename D>

SizeDepType< NQ >::template SegmentReturn< D >::ConstType jointConfigSelector ( const Eigen::MatrixBase< D > & a ) const

inline

Definition at line 322 of file joint-model-base.hpp.

jointConfigSelector() [2/2]

template<typename Derived>

template<typename D>

SizeDepType< NQ >::template SegmentReturn< D >::Type jointConfigSelector ( Eigen::MatrixBase< D > & a ) const

inline

Definition at line 337 of file joint-model-base.hpp.

jointConfigSelector_impl() [1/2]

template<typename Derived>

template<typename D>

SizeDepType< NQ >::template SegmentReturn< D >::ConstType jointConfigSelector_impl ( const Eigen::MatrixBase< D > & a ) const

inline

Definition at line 329 of file joint-model-base.hpp.

jointConfigSelector_impl() [2/2]

template<typename Derived>

template<typename D>

SizeDepType< NQ >::template SegmentReturn< D >::Type jointConfigSelector_impl ( Eigen::MatrixBase< D > & a ) const

inline

Definition at line 344 of file joint-model-base.hpp.

jointExtendedModelBlock() [1/2]

template<typename Derived>

template<typename D>

SizeDepType< NVExtended >::template BlockReturn< D >::ConstType jointExtendedModelBlock ( const Eigen::MatrixBase< D > & Mat ) const

inline

Definition at line 539 of file joint-model-base.hpp.

jointExtendedModelBlock() [2/2]

template<typename Derived>

template<typename D>

SizeDepType< NVExtended >::template BlockReturn< D >::Type jointExtendedModelBlock ( Eigen::MatrixBase< D > & Mat ) const

inline

Definition at line 569 of file joint-model-base.hpp.

jointExtendedModelBlock_impl() [1/2]

template<typename Derived>

template<typename D>

SizeDepType< NVExtended >::template BlockReturn< D >::ConstType jointExtendedModelBlock_impl ( const Eigen::MatrixBase< D > & Mat ) const

inline

Definition at line 553 of file joint-model-base.hpp.

jointExtendedModelBlock_impl() [2/2]

template<typename Derived>

template<typename D>

SizeDepType< NVExtended >::template BlockReturn< D >::Type jointExtendedModelBlock_impl ( Eigen::MatrixBase< D > & Mat ) const

inline

Definition at line 583 of file joint-model-base.hpp.

jointExtendedModelCols() [1/2]

template<typename Derived>

template<typename D>

SizeDepType< NVExtended >::template ColsReturn< D >::ConstType jointExtendedModelCols ( const Eigen::MatrixBase< D > & A ) const

inline

Definition at line 421 of file joint-model-base.hpp.

jointExtendedModelCols() [2/2]

template<typename Derived>

template<typename D>

SizeDepType< NVExtended >::template ColsReturn< D >::Type jointExtendedModelCols ( Eigen::MatrixBase< D > & A ) const

inline

Definition at line 450 of file joint-model-base.hpp.

jointExtendedModelCols_impl() [1/2]

template<typename Derived>

template<typename D>

SizeDepType< NVExtended >::template ColsReturn< D >::ConstType jointExtendedModelCols_impl ( const Eigen::MatrixBase< D > & A ) const

inline

Definition at line 435 of file joint-model-base.hpp.

jointExtendedModelCols_impl() [2/2]

template<typename Derived>

template<typename D>

SizeDepType< NVExtended >::template ColsReturn< D >::Type jointExtendedModelCols_impl ( Eigen::MatrixBase< D > & A ) const

inline

Definition at line 464 of file joint-model-base.hpp.

jointExtendedModelRows() [1/2]

template<typename Derived>

template<typename D>

SizeDepType< NVExtended >::template RowsReturn< D >::ConstType jointExtendedModelRows ( const Eigen::MatrixBase< D > & A ) const

inline

Definition at line 480 of file joint-model-base.hpp.

jointExtendedModelRows() [2/2]

template<typename Derived>

template<typename D>

SizeDepType< NVExtended >::template RowsReturn< D >::Type jointExtendedModelRows ( Eigen::MatrixBase< D > & A ) const

inline

Definition at line 508 of file joint-model-base.hpp.

jointExtendedModelRows_impl() [1/2]

template<typename Derived>

template<typename D>

SizeDepType< NVExtended >::template RowsReturn< D >::ConstType jointExtendedModelRows_impl ( const Eigen::MatrixBase< D > & A ) const

inline

Definition at line 494 of file joint-model-base.hpp.

jointExtendedModelRows_impl() [2/2]

template<typename Derived>

template<typename D>

SizeDepType< NVExtended >::template RowsReturn< D >::Type jointExtendedModelRows_impl ( Eigen::MatrixBase< D > & A ) const

inline

Definition at line 522 of file joint-model-base.hpp.

JointMappedConfigSelector() [1/2]

template<typename Derived>

template<typename D>

SizeDepType< NQ >::template SegmentReturn< D >::ConstType JointMappedConfigSelector ( const Eigen::MatrixBase< D > & a ) const

inline

Definition at line 292 of file joint-model-base.hpp.

JointMappedConfigSelector() [2/2]

template<typename Derived>

template<typename D>

SizeDepType< NQ >::template SegmentReturn< D >::Type JointMappedConfigSelector ( Eigen::MatrixBase< D > & a ) const

inline

Definition at line 307 of file joint-model-base.hpp.

JointMappedConfigSelector_impl() [1/2]

template<typename Derived>

template<typename D>

SizeDepType< NQ >::template SegmentReturn< D >::ConstType JointMappedConfigSelector_impl ( const Eigen::MatrixBase< D > & a ) const

inline

Definition at line 299 of file joint-model-base.hpp.

JointMappedConfigSelector_impl() [2/2]

template<typename Derived>

template<typename D>

SizeDepType< NQ >::template SegmentReturn< D >::Type JointMappedConfigSelector_impl ( Eigen::MatrixBase< D > & a ) const

inline

Definition at line 314 of file joint-model-base.hpp.

JointMappedVelocitySelector() [1/2]

template<typename Derived>

template<typename D>

SizeDepType< NV >::template SegmentReturn< D >::ConstType JointMappedVelocitySelector ( const Eigen::MatrixBase< D > & a ) const

inline

Definition at line 353 of file joint-model-base.hpp.

JointMappedVelocitySelector() [2/2]

template<typename Derived>

template<typename D>

SizeDepType< NV >::template SegmentReturn< D >::Type JointMappedVelocitySelector ( Eigen::MatrixBase< D > & a ) const

inline

Definition at line 368 of file joint-model-base.hpp.

JointMappedVelocitySelector_impl() [1/2]

template<typename Derived>

template<typename D>

SizeDepType< NV >::template SegmentReturn< D >::ConstType JointMappedVelocitySelector_impl ( const Eigen::MatrixBase< D > & a ) const

inline

Definition at line 360 of file joint-model-base.hpp.

JointMappedVelocitySelector_impl() [2/2]

template<typename Derived>

template<typename D>

SizeDepType< NV >::template SegmentReturn< D >::Type JointMappedVelocitySelector_impl ( Eigen::MatrixBase< D > & a ) const

inline

Definition at line 375 of file joint-model-base.hpp.

jointRows() [1/2]

template<typename Derived>

template<typename D>

SizeDepType< NV >::template RowsReturn< D >::ConstType jointRows ( const Eigen::MatrixBase< D > & A ) const

inline

Definition at line 473 of file joint-model-base.hpp.

jointRows() [2/2]

template<typename Derived>

template<typename D>

SizeDepType< NV >::template RowsReturn< D >::Type jointRows ( Eigen::MatrixBase< D > & A ) const

inline

Definition at line 501 of file joint-model-base.hpp.

jointRows_impl() [1/2]

template<typename Derived>

template<typename D>

SizeDepType< NV >::template RowsReturn< D >::ConstType jointRows_impl ( const Eigen::MatrixBase< D > & A ) const

inline

Definition at line 487 of file joint-model-base.hpp.

jointRows_impl() [2/2]

template<typename Derived>

template<typename D>

SizeDepType< NV >::template RowsReturn< D >::Type jointRows_impl ( Eigen::MatrixBase< D > & A ) const

inline

Definition at line 515 of file joint-model-base.hpp.

jointVelocitySelector() [1/2]

template<typename Derived>

template<typename D>

SizeDepType< NV >::template SegmentReturn< D >::ConstType jointVelocitySelector ( const Eigen::MatrixBase< D > & a ) const

inline

Definition at line 383 of file joint-model-base.hpp.

jointVelocitySelector() [2/2]

template<typename Derived>

template<typename D>

SizeDepType< NV >::template SegmentReturn< D >::Type jointVelocitySelector ( Eigen::MatrixBase< D > & a ) const

inline

Definition at line 398 of file joint-model-base.hpp.

jointVelocitySelector_impl() [1/2]

template<typename Derived>

template<typename D>

SizeDepType< NV >::template SegmentReturn< D >::ConstType jointVelocitySelector_impl ( const Eigen::MatrixBase< D > & a ) const

inline

Definition at line 390 of file joint-model-base.hpp.

jointVelocitySelector_impl() [2/2]

template<typename Derived>

template<typename D>

SizeDepType< NV >::template SegmentReturn< D >::Type jointVelocitySelector_impl ( Eigen::MatrixBase< D > & a ) const

inline

Definition at line 405 of file joint-model-base.hpp.

nq()

template<typename Derived>

int nq ( ) const

inline

Definition at line 148 of file joint-model-base.hpp.

nq_impl()

template<typename Derived>

int nq_impl ( ) const

inline

Definition at line 162 of file joint-model-base.hpp.

nv()

template<typename Derived>

int nv ( ) const

inline

Definition at line 144 of file joint-model-base.hpp.

nv_impl()

template<typename Derived>

int nv_impl ( ) const

inline

Definition at line 158 of file joint-model-base.hpp.

nvExtended()

template<typename Derived>

int nvExtended ( ) const

inline

Definition at line 152 of file joint-model-base.hpp.

nvExtended_impl()

template<typename Derived>

int nvExtended_impl ( ) const

inline

Definition at line 166 of file joint-model-base.hpp.

operator!=()

template<typename Derived>

template<class OtherDerived>

bool operator!= ( const JointModelBase< OtherDerived > & other ) const

inline

Definition at line 263 of file joint-model-base.hpp.

operator=()

template<typename Derived>

JointModelBase & operator= ( const JointModelBase< Derived > & clone )

inlineprotected

Copy operator: protected.

Copy of stand-alone JointModelBase are prevented, but can be used from inhereting objects.

Definition at line 614 of file joint-model-base.hpp.

operator==()

template<typename Derived>

template<class OtherDerived>

bool operator== ( const JointModelBase< OtherDerived > & other ) const

inline

Definition at line 257 of file joint-model-base.hpp.

setIndexes() [1/2]

template<typename Derived>

void setIndexes ( JointIndex id, int q, int v )

inline

Definition at line 205 of file joint-model-base.hpp.

setIndexes() [2/2]

template<typename Derived>

void setIndexes ( JointIndex id, int q, int v, int vExtended )

inline

Definition at line 210 of file joint-model-base.hpp.

setIndexes_impl()

template<typename Derived>

void setIndexes_impl ( JointIndex id, int q, int v, int vExtended )

inline

Definition at line 215 of file joint-model-base.hpp.

shortname()

template<typename Derived>

std::string shortname ( ) const

inline

Definition at line 241 of file joint-model-base.hpp.

Friends And Related Symbol Documentation

operator<<

template<typename Derived>

std::ostream & operator<< ( std::ostream & os, const JointModelBase< Derived > & jmodel )

friend

Definition at line 235 of file joint-model-base.hpp.

Member Data Documentation

i_id

template<typename Derived>

JointIndex i_id

protected

Definition at line 624 of file joint-model-base.hpp.

i_q

template<typename Derived>

int i_q

protected

Definition at line 625 of file joint-model-base.hpp.

i_v

template<typename Derived>

int i_v

protected

Definition at line 626 of file joint-model-base.hpp.

i_vExtended

template<typename Derived>

int i_vExtended

protected

Definition at line 627 of file joint-model-base.hpp.

---

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

• include/pinocchio/multibody/joint/joint-model-base.hpp