JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options > Struct Template Reference

Inheritance diagram for JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options >:

Collaboration diagram for JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options >:

Classes
struct	ConstraintTranspose

Public Types
enum	{ NV = 3 }
typedef Eigen::Matrix< Scalar, 3, 3, Options >	Matrix3
Public Types inherited from NumericalBase< JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options > >
typedef traits< JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options > >::Scalar	Scalar

Public Member Functions
template<typename Matrix3Like>
	JointMotionSubspaceSphericalZYXTpl (const Eigen::MatrixBase< Matrix3Like > &subspace)
template<typename Vector3Like>
JointMotion	__mult__ (const Eigen::MatrixBase< Vector3Like > &v) const
Matrix3 &	angularSubspace ()
const Matrix3 &	angularSubspace () const
bool	isEqual (const JointMotionSubspaceSphericalZYXTpl &other) const
DenseBase	matrix_impl () const
template<typename MotionDerived>
DenseBase	motionAction (const MotionDense< MotionDerived > &m) const
int	nv_impl () const
Matrix3 &	operator() ()
const Matrix3 &	operator() () const
template<typename S1, int O1>
Eigen::Matrix< Scalar, 6, 3, Options >	se3Action (const SE3Tpl< S1, O1 > &m) const
template<typename S1, int O1>
Eigen::Matrix< Scalar, 6, 3, Options >	se3ActionInverse (const SE3Tpl< S1, O1 > &m) const
ConstraintTranspose	transpose () const
Public Member Functions inherited from JointMotionSubspaceBase< JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options > >
int	cols () const
JointMotionSubspaceSphericalZYXTpl< _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< JointMotionSubspaceSphericalZYXTpl< _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< JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options > > &other) const
SE3GroupAction< JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options > >::ReturnType	se3Action (const SE3Tpl< Scalar, Options > &m) const
SE3GroupAction< JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options > >::ReturnType	se3ActionInverse (const SE3Tpl< Scalar, Options > &m) const

Protected Attributes
Matrix3	m_S

Additional Inherited Members
Static Public Member Functions inherited from JointMotionSubspaceBase< JointMotionSubspaceSphericalZYXTpl< _Scalar, _Options > >
static int	rows ()

Detailed Description

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

Definition at line 50 of file joint-spherical-ZYX.hpp.

Member Typedef Documentation

Matrix3

template<typename _Scalar, int _Options>

typedef Eigen::Matrix<Scalar, 3, 3, Options> Matrix3

Definition at line 61 of file joint-spherical-ZYX.hpp.

Member Enumeration Documentation

anonymous enum

template<typename _Scalar, int _Options>

anonymous enum

Definition at line 57 of file joint-spherical-ZYX.hpp.

Constructor & Destructor Documentation

JointMotionSubspaceSphericalZYXTpl() [1/2]

template<typename _Scalar, int _Options>

JointMotionSubspaceSphericalZYXTpl ( )

inline

Definition at line 63 of file joint-spherical-ZYX.hpp.

JointMotionSubspaceSphericalZYXTpl() [2/2]

template<typename _Scalar, int _Options>

template<typename Matrix3Like>

JointMotionSubspaceSphericalZYXTpl ( const Eigen::MatrixBase< Matrix3Like > & subspace )

inline

Definition at line 68 of file joint-spherical-ZYX.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 75 of file joint-spherical-ZYX.hpp.

angularSubspace() [1/2]

template<typename _Scalar, int _Options>

Matrix3 & angularSubspace ( )

inline

Definition at line 194 of file joint-spherical-ZYX.hpp.

angularSubspace() [2/2]

template<typename _Scalar, int _Options>

const Matrix3 & angularSubspace ( ) const

inline

Definition at line 198 of file joint-spherical-ZYX.hpp.

isEqual()

template<typename _Scalar, int _Options>

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

inline

Definition at line 203 of file joint-spherical-ZYX.hpp.

matrix_impl()

template<typename _Scalar, int _Options>

DenseBase matrix_impl ( ) const

inline

Definition at line 131 of file joint-spherical-ZYX.hpp.

motionAction()

template<typename _Scalar, int _Options>

template<typename MotionDerived>

DenseBase motionAction ( const MotionDense< MotionDerived > & m ) const

inline

Definition at line 182 of file joint-spherical-ZYX.hpp.

nv_impl()

template<typename _Scalar, int _Options>

int nv_impl ( ) const

inline

Definition at line 90 of file joint-spherical-ZYX.hpp.

operator()() [1/2]

template<typename _Scalar, int _Options>

Matrix3 & operator() ( )

inline

Definition at line 81 of file joint-spherical-ZYX.hpp.

operator()() [2/2]

template<typename _Scalar, int _Options>

const Matrix3 & operator() ( ) const

inline

Definition at line 85 of file joint-spherical-ZYX.hpp.

se3Action()

template<typename _Scalar, int _Options>

template<typename S1, int O1>

Eigen::Matrix< Scalar, 6, 3, Options > se3Action ( const SE3Tpl< S1, O1 > & m ) const

inline

Definition at line 144 of file joint-spherical-ZYX.hpp.

se3ActionInverse()

template<typename _Scalar, int _Options>

template<typename S1, int O1>

Eigen::Matrix< Scalar, 6, 3, Options > se3ActionInverse ( const SE3Tpl< S1, O1 > & m ) const

inline

Definition at line 166 of file joint-spherical-ZYX.hpp.

transpose()

template<typename _Scalar, int _Options>

ConstraintTranspose transpose ( ) const

inline

Definition at line 126 of file joint-spherical-ZYX.hpp.

Member Data Documentation

m_S

template<typename _Scalar, int _Options>

Matrix3 m_S

protected

Definition at line 209 of file joint-spherical-ZYX.hpp.

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

• include/pinocchio/multibody/joint/joint-spherical-ZYX.hpp