Inheritance diagram for JointModelHelicalTpl< _Scalar, _Options, axis >:

Collaboration diagram for JointModelHelicalTpl< _Scalar, _Options, axis >:

Public Types
typedef JointModelBase< JointModelHelicalTpl >	Base
typedef JointHelicalTpl< _Scalar, _Options, axis >	JointDerived
typedef Eigen::Matrix< Scalar, 3, 1, _Options >	Vector3
Public Types inherited from JointModelBase< JointModelHelicalTpl< _Scalar, _Options, axis > >
typedef traits< JointModelHelicalTpl< _Scalar, _Options, axis > >::JointDerived	JointDerived
Public Types inherited from NumericalBase< JointModelHelicalTpl< _Scalar, _Options, axis > >
typedef traits< JointModelHelicalTpl< _Scalar, _Options, axis > >::Scalar	Scalar

Public Member Functions
	JointModelHelicalTpl (const Scalar &h)
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 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>
JointModelHelicalTpl< NewScalar, Options, axis >	cast () const
JointDataDerived	createData () const
Vector3	getMotionAxis () 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< JointModelHelicalTpl< _Scalar, _Options, axis > >
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, JointModelHelicalTpl< _Scalar, _Options, axis > >::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< JointModelHelicalTpl< _Scalar, _Options, axis > >
static std::string	classname ()

Public Attributes
Scalar	m_pitch

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

Detailed Description

template<typename _Scalar, int _Options, int axis>
struct pinocchio::JointModelHelicalTpl< _Scalar, _Options, axis >

Definition at line 833 of file joint-helical.hpp.

Member Typedef Documentation

◆ Base

template<typename _Scalar, int _Options, int axis>

typedef JointModelBase<JointModelHelicalTpl> Base

Definition at line 839 of file joint-helical.hpp.

◆ JointDerived

template<typename _Scalar, int _Options, int axis>

typedef JointHelicalTpl<_Scalar, _Options, axis> JointDerived

Definition at line 836 of file joint-helical.hpp.

◆ Vector3

template<typename _Scalar, int _Options, int axis>

typedef Eigen::Matrix<Scalar, 3, 1, _Options> Vector3

Definition at line 846 of file joint-helical.hpp.

Constructor & Destructor Documentation

◆ JointModelHelicalTpl() [1/2]

template<typename _Scalar, int _Options, int axis>

JointModelHelicalTpl ( )

inline

Definition at line 853 of file joint-helical.hpp.

◆ JointModelHelicalTpl() [2/2]

template<typename _Scalar, int _Options, int axis>

JointModelHelicalTpl ( const Scalar & h )

inlineexplicit

Definition at line 857 of file joint-helical.hpp.

Member Function Documentation

◆ calc() [1/3]

template<typename _Scalar, int _Options, int axis>

template<typename TangentVector>

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

inline

Definition at line 885 of file joint-helical.hpp.

◆ calc() [2/3]

template<typename _Scalar, int _Options, int axis>

template<typename ConfigVector>

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

inline

Definition at line 874 of file joint-helical.hpp.

◆ calc() [3/3]

template<typename _Scalar, int _Options, int axis>

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 894 of file joint-helical.hpp.

◆ calc_aba()

template<typename _Scalar, int _Options, int axis>

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 907 of file joint-helical.hpp.

◆ cast()

template<typename _Scalar, int _Options, int axis>

template<typename NewScalar>

JointModelHelicalTpl< NewScalar, Options, axis > cast ( ) const

inline

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

Definition at line 950 of file joint-helical.hpp.

◆ classname()

template<typename _Scalar, int _Options, int axis>

std::string classname ( )

inlinestatic

Definition at line 923 of file joint-helical.hpp.

◆ createData()

template<typename _Scalar, int _Options, int axis>

JointDataDerived createData ( ) const

inline

Definition at line 848 of file joint-helical.hpp.

◆ getMotionAxis()

template<typename _Scalar, int _Options, int axis>

Vector3 getMotionAxis ( ) const

inline

Definition at line 932 of file joint-helical.hpp.

◆ hasConfigurationLimit()

template<typename _Scalar, int _Options, int axis>

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

inline

Definition at line 862 of file joint-helical.hpp.

◆ hasConfigurationLimitInTangent()

template<typename _Scalar, int _Options, int axis>

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

inline

Definition at line 867 of file joint-helical.hpp.

◆ id()

template<typename _Scalar, int _Options, int axis>

JointIndex id ( ) const

inline

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

◆ idx_q()

template<typename _Scalar, int _Options, int axis>

int idx_q ( ) const

inline

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

◆ idx_v()

template<typename _Scalar, int _Options, int axis>

int idx_v ( ) const

inline

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

◆ idx_vExtended()

template<typename _Scalar, int _Options, int axis>

int idx_vExtended ( ) const

inline

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

◆ setIndexes() [1/2]

template<typename _Scalar, int _Options, int axis>

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, int axis>

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, int axis>

std::string shortname ( ) const

inline

Definition at line 927 of file joint-helical.hpp.

Member Data Documentation

◆ m_pitch

template<typename _Scalar, int _Options, int axis>

Scalar m_pitch

Definition at line 958 of file joint-helical.hpp.

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

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

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ JointDerived

◆ Vector3

Constructor & Destructor Documentation

◆ JointModelHelicalTpl() [1/2]

◆ JointModelHelicalTpl() [2/2]

Member Function Documentation

◆ calc() [1/3]

◆ calc() [2/3]

◆ calc() [3/3]

◆ calc_aba()

◆ cast()

◆ classname()

◆ createData()

◆ getMotionAxis()

◆ hasConfigurationLimit()

◆ hasConfigurationLimitInTangent()

◆ id()

◆ idx_q()

◆ idx_v()

◆ idx_vExtended()

◆ setIndexes() [1/2]

◆ setIndexes() [2/2]

◆ shortname()

Member Data Documentation

◆ m_pitch