Inheritance diagram for JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >:

Collaboration diagram for JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl >:

Public Types
typedef JointModelBase< JointModelCompositeTpl >	Base
typedef InertiaTpl< Scalar, Options >	Inertia
typedef JointCollectionTpl< Scalar, Options >	JointCollection
typedef JointCompositeTpl< _Scalar, _Options, JointCollectionTpl >	JointDerived
typedef JointModelTpl< Scalar, Options, JointCollectionTpl >	JointModelVariant
typedef MotionTpl< Scalar, Options >	Motion
typedef SE3Tpl< Scalar, Options >	SE3
Public Types inherited from JointModelBase< JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
typedef traits< JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > >::JointDerived	JointDerived
Public Types inherited from NumericalBase< JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
typedef traits< JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > >::Scalar	Scalar

Public Member Functions
	JointModelCompositeTpl ()
	Default contructor.
template<typename JointModel>
	JointModelCompositeTpl (const JointModelBase< JointModel > &jmodel, const SE3 &placement=SE3::Identity(), const std::string &name="joint_1")
	Constructor with one joint.
	JointModelCompositeTpl (const JointModelCompositeTpl &other)
	Copy constructor.
	JointModelCompositeTpl (const size_t size)
	Default contructor with a defined size.
template<typename JointModel>
JointModelDerived &	addJoint (const JointModelBase< JointModel > &jmodel, const SE3 &placement=SE3::Identity(), const std::string &name="")
	Add a joint to the vector of joints.
template<typename TangentVectorType>
void	calc (JointDataDerived &data, const Blank blank, 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) const
template<typename NewScalar>
JointModelCompositeTpl< NewScalar, Options, JointCollectionTpl >	cast () const
JointDataDerived	createData () const
void	disp (std::ostream &os) const
JointIndex	getJointId (const std::string &joint_name) const
const std::vector< bool >	hasConfigurationLimit () const
const std::vector< bool >	hasConfigurationLimitInTangent () const
JointIndex	id () const
int	idx_q () const
int	idx_v () const
int	idx_vExtended () const
bool	isEqual (const JointModelBase< JointModelCompositeTpl > &other) const
bool	isEqual (const JointModelBase< OtherDerived > &) const
bool	isEqual (const JointModelCompositeTpl &other) 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< Eigen::Dynamic >::template ColsReturn< D >::ConstType	jointCols_impl (const Eigen::MatrixBase< D > &A) const
template<typename D>
SizeDepType< Eigen::Dynamic >::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< Eigen::Dynamic >::template SegmentReturn< D >::ConstType	jointConfigSelector_impl (const Eigen::MatrixBase< D > &a) const
template<typename D>
SizeDepType< Eigen::Dynamic >::template SegmentReturn< D >::Type	jointConfigSelector_impl (Eigen::MatrixBase< D > &a) const
template<typename D>
SizeDepType< NV >::template ColsReturn< D >::ConstType	jointExtendedModelCols (const Eigen::MatrixBase< D > &A) const
template<typename D>
SizeDepType< NV >::template ColsReturn< D >::Type	jointExtendedModelCols (Eigen::MatrixBase< D > &A) const
template<typename D>
SizeDepType< Eigen::Dynamic >::template ColsReturn< D >::ConstType	jointExtendedModelCols_impl (const Eigen::MatrixBase< D > &A) const
template<typename D>
SizeDepType< Eigen::Dynamic >::template ColsReturn< D >::Type	jointExtendedModelCols_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< Eigen::Dynamic >::template SegmentReturn< D >::ConstType	JointMappedConfigSelector_impl (const Eigen::MatrixBase< D > &a) const
template<typename D>
SizeDepType< Eigen::Dynamic >::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< Eigen::Dynamic >::template SegmentReturn< D >::ConstType	JointMappedVelocitySelector_impl (const Eigen::MatrixBase< D > &a) const
template<typename D>
SizeDepType< Eigen::Dynamic >::template SegmentReturn< D >::Type	JointMappedVelocitySelector_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< Eigen::Dynamic >::template SegmentReturn< D >::ConstType	jointVelocitySelector_impl (const Eigen::MatrixBase< D > &a) const
template<typename D>
SizeDepType< Eigen::Dynamic >::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
JointModelCompositeTpl &	operator= (const JointModelCompositeTpl &other)
typedef	PINOCCHIO_ALIGNED_STD_VECTOR (JointModelVariant) JointModelVector
	PINOCCHIO_ALIGNED_STD_VECTOR (SE3) jointPlacements
	Vector of joint placements. Those placements correspond to the origin of the joint relatively to their parent.
	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)
	Update the indexes of subjoints in the stack.
std::string	shortname () const
Public Member Functions inherited from JointModelBase< JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
void	calc (JointDataDerived &data, const Eigen::MatrixBase< ConfigVectorType > &qs) const
void	calc_aba (JointDataDerived &data, const Eigen::MatrixBase< VectorLike > &armature, const Eigen::MatrixBase< Matrix6Like > &I, const bool update_I=false) const
CastType< NewScalar, JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > >::type	cast () const
JointDataDerived	createData () const
JointModelDerived &	derived ()
void	disp (std::ostream &os) const
const std::vector< bool >	hasConfigurationLimit () const
const std::vector< bool >	hasConfigurationLimitInTangent () const
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< OtherDerived > &) const
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.
SizeDepType< NV >::template BlockReturn< D >::ConstType	jointBlock_impl (const Eigen::MatrixBase< D > &Mat) const
SizeDepType< NV >::template ColsReturn< D >::ConstType	jointCols (const Eigen::MatrixBase< D > &A) const
SizeDepType< NV >::template ColsReturn< D >::ConstType	jointCols_impl (const Eigen::MatrixBase< D > &A) const
SizeDepType< NQ >::template SegmentReturn< D >::ConstType	jointConfigSelector (const Eigen::MatrixBase< D > &a) const
SizeDepType< NQ >::template SegmentReturn< D >::ConstType	jointConfigSelector_impl (const Eigen::MatrixBase< D > &a) const
SizeDepType< NVExtended >::template BlockReturn< D >::ConstType	jointExtendedModelBlock (const Eigen::MatrixBase< D > &Mat) const
SizeDepType< NVExtended >::template BlockReturn< D >::ConstType	jointExtendedModelBlock_impl (const Eigen::MatrixBase< D > &Mat) const
SizeDepType< NVExtended >::template ColsReturn< D >::ConstType	jointExtendedModelCols (const Eigen::MatrixBase< D > &A) const
SizeDepType< NVExtended >::template ColsReturn< D >::ConstType	jointExtendedModelCols_impl (const Eigen::MatrixBase< D > &A) const
SizeDepType< NVExtended >::template RowsReturn< D >::ConstType	jointExtendedModelRows (const Eigen::MatrixBase< D > &A) const
SizeDepType< NVExtended >::template RowsReturn< D >::ConstType	jointExtendedModelRows_impl (const Eigen::MatrixBase< D > &A) const
SizeDepType< NQ >::template SegmentReturn< D >::ConstType	JointMappedConfigSelector (const Eigen::MatrixBase< D > &a) const
SizeDepType< NQ >::template SegmentReturn< D >::ConstType	JointMappedConfigSelector_impl (const Eigen::MatrixBase< D > &a) const
SizeDepType< NV >::template SegmentReturn< D >::ConstType	JointMappedVelocitySelector (const Eigen::MatrixBase< D > &a) const
SizeDepType< NV >::template SegmentReturn< D >::ConstType	JointMappedVelocitySelector_impl (const Eigen::MatrixBase< D > &a) const
SizeDepType< NV >::template RowsReturn< D >::ConstType	jointRows (const Eigen::MatrixBase< D > &A) const
SizeDepType< NV >::template RowsReturn< D >::ConstType	jointRows_impl (const Eigen::MatrixBase< D > &A) const
SizeDepType< NV >::template SegmentReturn< D >::ConstType	jointVelocitySelector (const Eigen::MatrixBase< D > &a) const
SizeDepType< NV >::template SegmentReturn< D >::ConstType	jointVelocitySelector_impl (const 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
bool	operator!= (const JointModelBase< OtherDerived > &other) const
bool	operator== (const JointModelBase< OtherDerived > &other) const
	PINOCCHIO_JOINT_TYPEDEF_TEMPLATE (JointDerived)
void	setIndexes (JointIndex id, int q, int v)
void	setIndexes_impl (JointIndex id, int q, int v, int vExtended)
std::string	shortname () const

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

Public Attributes
JointModelVector	joints
	Vector of joints contained in the joint composite.
int	njoints
	Number of joints contained in the JointModelComposite.

Protected Member Functions
void	updateJointIndexes ()
	Update the indexes of the joints contained in the composition according to the position of the joint composite.
Protected Member Functions inherited from JointModelBase< JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
	JointModelBase ()
JointModelBase &	operator= (const JointModelBase &clone)

Protected Attributes
std::vector< std::string >	jointNames
	Vector of names for each joint inside the composite.
std::vector< int >	m_idx_q
	Keep information of both the dimension and the position of the joints in the composition.
std::vector< int >	m_idx_v
	Index in the tangent vector.
std::vector< int >	m_idx_vExtended
	Index in the jacobian matrix.
int	m_nq
	Dimensions of the config and tangent space of the composite joint.
std::vector< int >	m_nqs
	Dimension of the segment in the config vector.
int	m_nv
int	m_nvExtended
std::vector< int >	m_nvExtendeds
	Dimension of the segment in the jacobian matrix.
std::vector< int >	m_nvs
	Dimension of the segment in the tangent vector.
Protected Attributes inherited from JointModelBase< JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > >
JointIndex	i_id
int	i_q
int	i_v
int	i_vExtended

Friends
template<typename, int, template< typename S, int O > class, typename, typename>
struct	JointCompositeCalcFirstOrderStep
template<typename, int, template< typename S, int O > class, typename>
struct	JointCompositeCalcZeroOrderStep
struct	Serialize< JointModelCompositeTpl >

Detailed Description

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

Definition at line 173 of file joint-composite.hpp.

Member Typedef Documentation

◆ Base

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

typedef JointModelBase<JointModelCompositeTpl> Base

Definition at line 178 of file joint-composite.hpp.

◆ Inertia

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

typedef InertiaTpl<Scalar, Options> Inertia

Definition at line 187 of file joint-composite.hpp.

◆ JointCollection

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

typedef JointCollectionTpl<Scalar, Options> JointCollection

Definition at line 182 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 179 of file joint-composite.hpp.

◆ JointModelVariant

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

typedef JointModelTpl<Scalar, Options, JointCollectionTpl> JointModelVariant

Definition at line 183 of file joint-composite.hpp.

◆ Motion

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

typedef MotionTpl<Scalar, Options> Motion

Definition at line 186 of file joint-composite.hpp.

◆ SE3

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

typedef SE3Tpl<Scalar, Options> SE3

Definition at line 185 of file joint-composite.hpp.

Constructor & Destructor Documentation

◆ JointModelCompositeTpl() [1/4]

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

JointModelCompositeTpl ( )

inline

Default contructor.

Definition at line 201 of file joint-composite.hpp.

◆ JointModelCompositeTpl() [2/4]

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

JointModelCompositeTpl ( const size_t size )

inline

Default contructor with a defined size.

Definition at line 213 of file joint-composite.hpp.

◆ JointModelCompositeTpl() [3/4]

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

template<typename JointModel>

JointModelCompositeTpl	(	const JointModelBase< JointModel > &	jmodel,
		const SE3 &	placement = SE3::Identity(),
		const std::string &	name = "joint_1" )

inline

Constructor with one joint.

Parameters

jmodel	Model of the first joint.
placement	Placement of the first joint w.r.t. the joint origin.
name	Name of the joint inside the composite

Definition at line 241 of file joint-composite.hpp.

◆ JointModelCompositeTpl() [4/4]

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

JointModelCompositeTpl ( const JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > & other )

inline

Copy constructor.

Parameters

other JointModel to copy.

Definition at line 266 of file joint-composite.hpp.

Member Function Documentation

◆ addJoint()

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

template<typename JointModel>

JointModelDerived & addJoint	(	const JointModelBase< JointModel > &	jmodel,
		const SE3 &	placement = SE3::Identity(),
		const std::string &	name = "" )

inline

Add a joint to the vector of joints.

Parameters

jmodel	Model of the joint to add.
placement	Placement of the joint relatively to its predecessor.
name	name of the joint inside the composite

Returns: A reference to *this

Definition at line 294 of file joint-composite.hpp.

◆ calc_aba()

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

template<typename VectorLike, typename Matrix6Like>

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

inline

Definition at line 372 of file joint-composite.hpp.

◆ cast()

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

template<typename NewScalar>

JointModelCompositeTpl< NewScalar, Options, JointCollectionTpl > cast ( ) const

inline

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

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

◆ classname()

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

std::string classname ( )

inlinestatic

Definition at line 411 of file joint-composite.hpp.

◆ createData()

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

JointDataDerived createData ( ) const

inline

Definition at line 319 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 657 of file joint-composite.hpp.

◆ getJointId()

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

JointIndex getJointId ( const std::string & joint_name ) const

inline

Definition at line 488 of file joint-composite.hpp.

◆ hasConfigurationLimit()

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

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

inline

Definition at line 328 of file joint-composite.hpp.

◆ hasConfigurationLimitInTangent()

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

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

inline

Definition at line 339 of file joint-composite.hpp.

◆ id()

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

JointIndex id ( ) const

inline

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

◆ idx_q()

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

int idx_q ( ) const

inline

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

◆ idx_v()

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

int idx_v ( ) const

inline

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

◆ idx_vExtended()

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

int idx_vExtended ( ) const

inline

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

◆ isEqual() [1/3]

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

bool isEqual ( const JointModelBase< JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > > & other ) const

inline

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

◆ isEqual() [2/3]

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

bool isEqual ( const JointModelBase< OtherDerived > & ) const

inline

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

◆ isEqual() [3/3]

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

bool isEqual ( const JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > & other ) const

inline

Definition at line 441 of file joint-composite.hpp.

◆ jointCols() [1/2]

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

template<typename D>

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

inline

Definition at line 558 of file joint-composite.hpp.

◆ jointCols() [2/2]

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

template<typename D>

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

inline

Definition at line 569 of file joint-composite.hpp.

◆ jointCols_impl() [1/2]

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

template<typename D>

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

inline

Definition at line 634 of file joint-composite.hpp.

◆ jointCols_impl() [2/2]

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

template<typename D>

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

inline

Definition at line 646 of file joint-composite.hpp.

◆ jointConfigSelector() [1/2]

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

template<typename D>

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

inline

Definition at line 519 of file joint-composite.hpp.

◆ jointConfigSelector() [2/2]

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

template<typename D>

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

inline

Definition at line 525 of file joint-composite.hpp.

◆ jointConfigSelector_impl() [1/2]

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

template<typename D>

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

inline

Definition at line 582 of file joint-composite.hpp.

◆ jointConfigSelector_impl() [2/2]

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

template<typename D>

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

inline

Definition at line 588 of file joint-composite.hpp.

◆ jointExtendedModelCols() [1/2]

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

template<typename D>

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

inline

Definition at line 564 of file joint-composite.hpp.

◆ jointExtendedModelCols() [2/2]

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

template<typename D>

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

inline

Definition at line 575 of file joint-composite.hpp.

◆ jointExtendedModelCols_impl() [1/2]

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

template<typename D>

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

inline

Definition at line 640 of file joint-composite.hpp.

◆ jointExtendedModelCols_impl() [2/2]

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

template<typename D>

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

inline

Definition at line 652 of file joint-composite.hpp.

◆ JointMappedConfigSelector() [1/2]

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

template<typename D>

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

inline

Definition at line 506 of file joint-composite.hpp.

◆ JointMappedConfigSelector() [2/2]

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

template<typename D>

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

inline

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

◆ JointMappedConfigSelector_impl() [1/2]

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

template<typename D>

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

inline

Definition at line 595 of file joint-composite.hpp.

◆ JointMappedConfigSelector_impl() [2/2]

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

template<typename D>

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

inline

Definition at line 601 of file joint-composite.hpp.

◆ JointMappedVelocitySelector() [1/2]

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

template<typename D>

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

inline

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

◆ JointMappedVelocitySelector() [2/2]

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

template<typename D>

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

inline

Definition at line 538 of file joint-composite.hpp.

◆ JointMappedVelocitySelector_impl() [1/2]

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

template<typename D>

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

inline

Definition at line 608 of file joint-composite.hpp.

◆ JointMappedVelocitySelector_impl() [2/2]

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

template<typename D>

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

inline

Definition at line 614 of file joint-composite.hpp.

◆ jointVelocitySelector() [1/2]

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

template<typename D>

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

inline

Definition at line 545 of file joint-composite.hpp.

◆ jointVelocitySelector() [2/2]

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

template<typename D>

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

inline

Definition at line 551 of file joint-composite.hpp.

◆ jointVelocitySelector_impl() [1/2]

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

template<typename D>

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

inline

Definition at line 621 of file joint-composite.hpp.

◆ jointVelocitySelector_impl() [2/2]

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

template<typename D>

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

inline

Definition at line 627 of file joint-composite.hpp.

◆ nq()

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

int nq ( ) const

inline

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

◆ nq_impl()

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

int nq_impl ( ) const

inline

Definition at line 393 of file joint-composite.hpp.

◆ nv()

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

int nv ( ) const

inline

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

◆ nv_impl()

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

int nv_impl ( ) const

inline

Definition at line 389 of file joint-composite.hpp.

◆ nvExtended()

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

int nvExtended ( ) const

inline

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

◆ nvExtended_impl()

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

int nvExtended_impl ( ) const

inline

Definition at line 397 of file joint-composite.hpp.

◆ operator=()

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

JointModelCompositeTpl & operator= ( const JointModelCompositeTpl< _Scalar, _Options, JointCollectionTpl > & other )

inline

Definition at line 420 of file joint-composite.hpp.

◆ setIndexes() [1/2]

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

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

inline

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

◆ setIndexes() [2/2]

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

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

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

inline

Update the indexes of subjoints in the stack.

Definition at line 405 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 415 of file joint-composite.hpp.

◆ updateJointIndexes()

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

void updateJointIndexes ( )

inlineprotected

Update the indexes of the joints contained in the composition according to the position of the joint composite.

Definition at line 675 of file joint-composite.hpp.

◆ JointModelCompositeTpl

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

template<typename, int, template< typename, int > class>

friend struct JointModelCompositeTpl

friend

Definition at line 671 of file joint-composite.hpp.

◆ JointCompositeCalcFirstOrderStep

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

template<typename, int, template< typename S, int O > class, typename, typename>

friend struct JointCompositeCalcFirstOrderStep

friend

Definition at line 357 of file joint-composite.hpp.

◆ JointCompositeCalcZeroOrderStep

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

template<typename, int, template< typename S, int O > class, typename>

friend struct JointCompositeCalcZeroOrderStep

friend

Definition at line 351 of file joint-composite.hpp.

◆ Serialize< JointModelCompositeTpl >

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

friend struct Serialize< JointModelCompositeTpl >

friend

Definition at line 657 of file joint-composite.hpp.

Member Data Documentation

◆ jointNames

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

std::vector<std::string> jointNames

protected

Vector of names for each joint inside the composite.

Definition at line 723 of file joint-composite.hpp.

◆ joints

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

JointModelVector joints

Vector of joints contained in the joint composite.

Definition at line 499 of file joint-composite.hpp.

◆ m_idx_q

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

std::vector<int> m_idx_q

protected

Keep information of both the dimension and the position of the joints in the composition.

Index in the config vector

Definition at line 711 of file joint-composite.hpp.

◆ m_idx_v

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

std::vector<int> m_idx_v

protected

Index in the tangent vector.

Definition at line 715 of file joint-composite.hpp.

◆ m_idx_vExtended

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

std::vector<int> m_idx_vExtended

protected

Index in the jacobian matrix.

Definition at line 719 of file joint-composite.hpp.

◆ m_nq

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

int m_nq

protected

Dimensions of the config and tangent space of the composite joint.

Definition at line 706 of file joint-composite.hpp.

◆ m_nqs

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

std::vector<int> m_nqs

protected

Dimension of the segment in the config vector.

Definition at line 713 of file joint-composite.hpp.

◆ m_nv

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

int m_nv

protected

Definition at line 706 of file joint-composite.hpp.

◆ m_nvExtended

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

int m_nvExtended

protected

Definition at line 706 of file joint-composite.hpp.

◆ m_nvExtendeds

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

std::vector<int> m_nvExtendeds

protected

Dimension of the segment in the jacobian matrix.

Definition at line 721 of file joint-composite.hpp.

◆ m_nvs

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

std::vector<int> m_nvs

protected

Dimension of the segment in the tangent vector.

Definition at line 717 of file joint-composite.hpp.

◆ njoints

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

int njoints

Number of joints contained in the JointModelComposite.

Definition at line 727 of file joint-composite.hpp.

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

include/pinocchio/multibody/joint/fwd.hpp
include/pinocchio/multibody/joint/joint-composite.hpp

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ Base

◆ Inertia

◆ JointCollection

◆ JointDerived

◆ JointModelVariant

◆ Motion

◆ SE3

Constructor & Destructor Documentation

◆ JointModelCompositeTpl() [1/4]

◆ JointModelCompositeTpl() [2/4]

◆ JointModelCompositeTpl() [3/4]

◆ JointModelCompositeTpl() [4/4]

Member Function Documentation

◆ addJoint()

◆ calc_aba()

◆ cast()

◆ classname()

◆ createData()

◆ disp()

◆ getJointId()

◆ hasConfigurationLimit()

◆ hasConfigurationLimitInTangent()

◆ id()

◆ idx_q()

◆ idx_v()

◆ idx_vExtended()

◆ isEqual() [1/3]

◆ isEqual() [2/3]

◆ isEqual() [3/3]

◆ jointCols() [1/2]

◆ jointCols() [2/2]

◆ jointCols_impl() [1/2]

◆ jointCols_impl() [2/2]

◆ jointConfigSelector() [1/2]

◆ jointConfigSelector() [2/2]

◆ jointConfigSelector_impl() [1/2]

◆ jointConfigSelector_impl() [2/2]

◆ jointExtendedModelCols() [1/2]

◆ jointExtendedModelCols() [2/2]

◆ jointExtendedModelCols_impl() [1/2]

◆ jointExtendedModelCols_impl() [2/2]

◆ JointMappedConfigSelector() [1/2]

◆ JointMappedConfigSelector() [2/2]

◆ JointMappedConfigSelector_impl() [1/2]

◆ JointMappedConfigSelector_impl() [2/2]

◆ JointMappedVelocitySelector() [1/2]

◆ JointMappedVelocitySelector() [2/2]

◆ JointMappedVelocitySelector_impl() [1/2]

◆ JointMappedVelocitySelector_impl() [2/2]

◆ jointVelocitySelector() [1/2]

◆ jointVelocitySelector() [2/2]

◆ jointVelocitySelector_impl() [1/2]

◆ jointVelocitySelector_impl() [2/2]

◆ nq()

◆ nq_impl()

◆ nv()

◆ nv_impl()

◆ nvExtended()

◆ nvExtended_impl()

◆ operator=()

◆ setIndexes() [1/2]

◆ setIndexes() [2/2]

◆ setIndexes_impl()

◆ shortname()

◆ updateJointIndexes()

Friends And Related Symbol Documentation

◆ JointModelCompositeTpl

◆ JointCompositeCalcFirstOrderStep

◆ JointCompositeCalcZeroOrderStep

◆ Serialize< JointModelCompositeTpl >

Member Data Documentation