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

struct  TransposeConst

Public Types

enum  { NV = 3 }
typedef SpatialAxis< 5 > AxisRotZ
typedef Eigen::Matrix< Scalar, 6, 3, Options > Matrix63
Public Types inherited from NumericalBase< JointMotionSubspaceEllipsoidTpl< _Scalar, _Options > >
typedef traits< JointMotionSubspaceEllipsoidTpl< _Scalar, _Options > >::Scalar Scalar

Public Member Functions

template<typename Vector3Like>
JointMotion __mult__ (const Eigen::MatrixBase< Vector3Like > &v) const
bool isEqual (const JointMotionSubspaceEllipsoidTpl &other) const
DenseBase matrix_impl () const
template<typename MotionDerived>
MotionAlgebraAction< JointMotionSubspaceEllipsoidTpl, MotionDerived >::ReturnType motionAction (const MotionDense< MotionDerived > &m) const
int nv_impl () const
template<typename S1, int O1>
SE3GroupAction< JointMotionSubspaceEllipsoidTpl >::ReturnType se3Action (const SE3Tpl< S1, O1 > &m) const
template<typename S1, int O1>
SE3GroupAction< JointMotionSubspaceEllipsoidTpl >::ReturnType se3ActionInverse (const SE3Tpl< S1, O1 > &m) const
TransposeConst transpose () const
Public Member Functions inherited from JointMotionSubspaceBase< JointMotionSubspaceEllipsoidTpl< _Scalar, _Options > >
int cols () const
JointMotionSubspaceEllipsoidTpl< _Scalar, _Options > & derived ()
void disp (std::ostream &os) const
bool isApprox (const JointMotionSubspaceBase< OtherDerived > &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
MatrixReturnType matrix ()
MotionAlgebraAction< JointMotionSubspaceEllipsoidTpl< _Scalar, _Options >, MotionDerived >::ReturnType motionAction (const MotionDense< MotionDerived > &v) const
int nv () const
JointMotion operator* (const Eigen::MatrixBase< VectorLike > &vj) const
bool operator== (const JointMotionSubspaceBase< JointMotionSubspaceEllipsoidTpl< _Scalar, _Options > > &other) const
SE3GroupAction< JointMotionSubspaceEllipsoidTpl< _Scalar, _Options > >::ReturnType se3Action (const SE3Tpl< Scalar, Options > &m) const
SE3GroupAction< JointMotionSubspaceEllipsoidTpl< _Scalar, _Options > >::ReturnType se3ActionInverse (const SE3Tpl< Scalar, Options > &m) const

Public Attributes

Matrix63 S

Additional Inherited Members

Static Public Member Functions inherited from JointMotionSubspaceBase< JointMotionSubspaceEllipsoidTpl< _Scalar, _Options > >
static int rows ()

Detailed Description

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

Definition at line 75 of file joint-ellipsoid.hpp.

Member Typedef Documentation

◆ AxisRotZ

template<typename _Scalar, int _Options>
typedef SpatialAxis<5> AxisRotZ

Definition at line 86 of file joint-ellipsoid.hpp.

◆ Matrix63

template<typename _Scalar, int _Options>
typedef Eigen::Matrix<Scalar, 6, 3, Options> Matrix63

Definition at line 88 of file joint-ellipsoid.hpp.

Member Enumeration Documentation

◆ anonymous enum

template<typename _Scalar, int _Options>
anonymous enum

Definition at line 81 of file joint-ellipsoid.hpp.

Member Function Documentation

◆ __mult__()

template<typename _Scalar, int _Options>
template<typename Vector3Like>
JointMotion __mult__(const Eigen::MatrixBase< Vector3Like > &v)const
inline

Definition at line 92 of file joint-ellipsoid.hpp.

◆ isEqual()

template<typename _Scalar, int _Options>
bool isEqual(const JointMotionSubspaceEllipsoidTpl< _Scalar, _Options > &other)const
inline

Definition at line 211 of file joint-ellipsoid.hpp.

◆ matrix_impl()

template<typename _Scalar, int _Options>
DenseBase matrix_impl()const
inline

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

◆ motionAction()

template<typename _Scalar, int _Options>
template<typename MotionDerived>
MotionAlgebraAction< JointMotionSubspaceEllipsoidTpl, MotionDerived >::ReturnType motionAction(const MotionDense< MotionDerived > &m)const
inline

Definition at line 194 of file joint-ellipsoid.hpp.

◆ nv_impl()

template<typename _Scalar, int _Options>
int nv_impl()const
inline

Definition at line 136 of file joint-ellipsoid.hpp.

◆ se3Action()

template<typename _Scalar, int _Options>
template<typename S1, int O1>
SE3GroupAction< JointMotionSubspaceEllipsoidTpl >::ReturnType se3Action(const SE3Tpl< S1, O1 > &m)const
inline

Definition at line 106 of file joint-ellipsoid.hpp.

◆ se3ActionInverse()

template<typename _Scalar, int _Options>
template<typename S1, int O1>
SE3GroupAction< JointMotionSubspaceEllipsoidTpl >::ReturnType se3ActionInverse(const SE3Tpl< S1, O1 > &m)const
inline

Definition at line 121 of file joint-ellipsoid.hpp.

◆ transpose()

template<typename _Scalar, int _Options>
TransposeConst transpose()const
inline

Definition at line 176 of file joint-ellipsoid.hpp.

Member Data Documentation

◆ S

template<typename _Scalar, int _Options>
Matrix63 S

Definition at line 89 of file joint-ellipsoid.hpp.

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