Free-flyer joint in $SE(3)$ . More...

#include <pinocchio/multibody/joint/joint-free-flyer.hpp>

Inheritance diagram for JointModelFreeFlyerTpl< _Scalar, _Options >:

Collaboration diagram for JointModelFreeFlyerTpl< _Scalar, _Options >:

Public Types
typedef JointModelBase< JointModelFreeFlyerTpl >	Base
typedef JointFreeFlyerTpl< _Scalar, _Options >	JointDerived
Public Types inherited from JointModelBase< JointModelFreeFlyerTpl< _Scalar, _Options > >
typedef traits< JointModelFreeFlyerTpl< _Scalar, _Options > >::JointDerived	JointDerived
Public Types inherited from NumericalBase< JointModelFreeFlyerTpl< _Scalar, _Options > >
typedef traits< JointModelFreeFlyerTpl< _Scalar, _Options > >::Scalar	Scalar

Public Member Functions
template<typename TangentVector>
PINOCCHIO_DONT_INLINE void	calc (JointDataDerived &data, const Blank, const typename Eigen::MatrixBase< TangentVector > &vs) const
template<typename ConfigVector>
PINOCCHIO_DONT_INLINE void	calc (JointDataDerived &data, const typename Eigen::MatrixBase< ConfigVector > &qs) const
template<typename ConfigVector, typename TangentVector>
PINOCCHIO_DONT_INLINE void	calc (JointDataDerived &data, const typename Eigen::MatrixBase< ConfigVector > &qs, const typename Eigen::MatrixBase< TangentVector > &vs) const
template<typename Vector3Derived, typename QuaternionDerived>
PINOCCHIO_DONT_INLINE void	calc (JointDataDerived &data, const typename Eigen::MatrixBase< Vector3Derived > &trans, const typename Eigen::QuaternionBase< QuaternionDerived > &quat) 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>
JointModelFreeFlyerTpl< NewScalar, Options >	cast () const
JointDataDerived	createData () const
template<typename ConfigVectorLike>
void	forwardKinematics (Transformation_t &M, const Eigen::MatrixBase< ConfigVectorLike > &q_joint) 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
	PINOCCHIO_JOINT_TYPEDEF_TEMPLATE (JointDerived)
void	setIndexes (JointIndex id, int q, int v)
void	setIndexes (JointIndex id, int q, int v, int vExtended)
std::string	shortname () const
Public Member Functions inherited from JointModelBase< JointModelFreeFlyerTpl< _Scalar, _Options > >
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, JointModelFreeFlyerTpl< _Scalar, _Options > >::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< JointModelFreeFlyerTpl< _Scalar, _Options > >
static std::string	classname ()

Additional Inherited Members
Protected Member Functions inherited from JointModelBase< JointModelFreeFlyerTpl< _Scalar, _Options > >
	JointModelBase ()
JointModelBase &	operator= (const JointModelBase &clone)
Protected Attributes inherited from JointModelBase< JointModelFreeFlyerTpl< _Scalar, _Options > >
JointIndex	i_id
int	i_q
int	i_v
int	i_vExtended

Detailed Description

template<typename _Scalar, int _Options>
struct pinocchio::JointModelFreeFlyerTpl< _Scalar, _Options >

Free-flyer joint in $SE(3)$ .

A free-flyer joint adds seven coordinates to the configuration space. Given a configuration vector q:

q[idx_q:idx_q + 3] are the translation coordinates, in meters, representing the position of the child frame in the parent frame.
q[idx_q + 3:idx_q + 7] is a unit quaternion representing the rotation from the child frame to the parent frame, with quaternion coordinates ordered as (x, y, z, w).

Likewise, a free-flyer joint adds six coordinates to the tangent space. Let's consider a tangent vector v, say, a velocity vector. Following Featherstone's convention, all our tangent vectors are body rather than spatial vectors:

v[idx_v:idx_v + 3] is the linear velocity, in meters / second, corresponding to the linear velocity of the child frame with respect to the parent frame, expressed in the child frame (body linear velocity of the child frame).
v[idx_v + 3:idx_v + 6] is the angular velocity, in radians / second, corresponding to the angular velocity from the child frame to the parent frame, expressed in the child frame (body angular velocity of the child frame).

Definition at line 285 of file joint-free-flyer.hpp.

Member Typedef Documentation

◆ Base

template<typename _Scalar, int _Options>

typedef JointModelBase<JointModelFreeFlyerTpl> Base

Definition at line 291 of file joint-free-flyer.hpp.

◆ JointDerived

template<typename _Scalar, int _Options>

typedef JointFreeFlyerTpl<_Scalar, _Options> JointDerived

Definition at line 288 of file joint-free-flyer.hpp.

Member Function Documentation

◆ calc() [1/4]

template<typename _Scalar, int _Options>

template<typename TangentVector>

PINOCCHIO_DONT_INLINE void calc	(	JointDataDerived &	data,
		const Blank	,
		const typename Eigen::MatrixBase< TangentVector > &	vs ) const

inline

Definition at line 357 of file joint-free-flyer.hpp.

◆ calc() [2/4]

template<typename _Scalar, int _Options>

template<typename ConfigVector>

PINOCCHIO_DONT_INLINE void calc	(	JointDataDerived &	data,
		const typename Eigen::MatrixBase< ConfigVector > &	qs ) const

inline

Definition at line 344 of file joint-free-flyer.hpp.

◆ calc() [3/4]

template<typename _Scalar, int _Options>

template<typename ConfigVector, typename TangentVector>

PINOCCHIO_DONT_INLINE void calc	(	JointDataDerived &	data,
		const typename Eigen::MatrixBase< ConfigVector > &	qs,
		const typename Eigen::MatrixBase< TangentVector > &	vs ) const

inline

Definition at line 365 of file joint-free-flyer.hpp.

◆ calc() [4/4]

template<typename _Scalar, int _Options>

template<typename Vector3Derived, typename QuaternionDerived>

PINOCCHIO_DONT_INLINE void calc	(	JointDataDerived &	data,
		const typename Eigen::MatrixBase< Vector3Derived > &	trans,
		const typename Eigen::QuaternionBase< QuaternionDerived > &	quat ) const

inline

Definition at line 333 of file joint-free-flyer.hpp.

◆ calc_aba()

template<typename _Scalar, int _Options>

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 377 of file joint-free-flyer.hpp.

◆ cast()

template<typename _Scalar, int _Options>

template<typename NewScalar>

JointModelFreeFlyerTpl< NewScalar, Options > cast ( ) const

inline

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

Definition at line 405 of file joint-free-flyer.hpp.

◆ classname()

template<typename _Scalar, int _Options>

std::string classname ( )

inlinestatic

Definition at line 394 of file joint-free-flyer.hpp.

◆ createData()

template<typename _Scalar, int _Options>

JointDataDerived createData ( ) const

inline

Definition at line 298 of file joint-free-flyer.hpp.

◆ forwardKinematics()

template<typename _Scalar, int _Options>

template<typename ConfigVectorLike>

void forwardKinematics	(	Transformation_t &	M,
		const Eigen::MatrixBase< ConfigVectorLike > &	q_joint ) const

inline

Definition at line 314 of file joint-free-flyer.hpp.

◆ hasConfigurationLimit()

template<typename _Scalar, int _Options>

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

inline

Definition at line 303 of file joint-free-flyer.hpp.

◆ hasConfigurationLimitInTangent()

template<typename _Scalar, int _Options>

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

inline

Definition at line 308 of file joint-free-flyer.hpp.

◆ id()

template<typename _Scalar, int _Options>

JointIndex id ( ) const

inline

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

◆ idx_q()

template<typename _Scalar, int _Options>

int idx_q ( ) const

inline

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

◆ idx_v()

template<typename _Scalar, int _Options>

int idx_v ( ) const

inline

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

◆ idx_vExtended()

template<typename _Scalar, int _Options>

int idx_vExtended ( ) const

inline

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

◆ setIndexes() [1/2]

template<typename _Scalar, int _Options>

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>

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

inline

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

◆ shortname()

template<typename _Scalar, int _Options>

std::string shortname ( ) const

inline

Definition at line 398 of file joint-free-flyer.hpp.

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

include/pinocchio/multibody/joint/fwd.hpp
include/pinocchio/multibody/joint/joint-free-flyer.hpp

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ JointDerived

Member Function Documentation

◆ calc() [1/4]

◆ calc() [2/4]

◆ calc() [3/4]

◆ calc() [4/4]

◆ calc_aba()

◆ cast()

◆ classname()

◆ createData()

◆ forwardKinematics()

◆ hasConfigurationLimit()

◆ hasConfigurationLimitInTangent()

◆ id()

◆ idx_q()

◆ idx_v()

◆ idx_vExtended()

◆ setIndexes() [1/2]

◆ setIndexes() [2/2]

◆ shortname()