JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim > Struct Template Reference

Inheritance diagram for JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim >:

Collaboration diagram for JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim >:

Classes
struct	Transpose

Public Types
enum	{ NV = _Dim }
typedef JointMotionSubspaceBase< JointMotionSubspaceTpl >	Base
Public Types inherited from NumericalBase< JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim > >
typedef traits< JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim > >::Scalar	Scalar

Public Member Functions
template<typename D>
	JointMotionSubspaceTpl (const Eigen::MatrixBase< D > &_S)
	JointMotionSubspaceTpl (const int dim)
template<int D, int MD>
	JointMotionSubspaceTpl (const JointMotionSubspaceTpl< D, _Scalar, _Options, MD > subspace)
template<typename VectorLike>
JointMotion	__mult__ (const Eigen::MatrixBase< VectorLike > &vj) const
void	disp_impl (std::ostream &os) const
bool	isEqual (const JointMotionSubspaceTpl &other) const
MatrixReturnType	matrix_impl ()
ConstMatrixReturnType	matrix_impl () const
template<typename MotionDerived>
DenseBase	motionAction (const MotionDense< MotionDerived > &v) const
int	nv () const
int	nv_impl () const
DenseBase	se3Action (const SE3Tpl< Scalar, Options > &m) const
DenseBase	se3ActionInverse (const SE3Tpl< Scalar, Options > &m) const
Transpose	transpose () const
Public Member Functions inherited from JointMotionSubspaceBase< JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim > >
int	cols () const
JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim > &	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< JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim >, MotionDerived >::ReturnType	motionAction (const MotionDense< MotionDerived > &v) const
int	nv () const
JointMotion	operator* (const Eigen::MatrixBase< VectorLike > &vj) const
bool	operator== (const JointMotionSubspaceBase< JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim > > &other) const
SE3GroupAction< JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim > >::ReturnType	se3Action (const SE3Tpl< Scalar, Options > &m) const
SE3GroupAction< JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim > >::ReturnType	se3ActionInverse (const SE3Tpl< Scalar, Options > &m) const

Static Public Member Functions
static JointMotionSubspaceTpl	Zero (const int dim)
Static Public Member Functions inherited from JointMotionSubspaceBase< JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim > >
static int	rows ()

Static Public Attributes
static constexpr int	MaxNV = NV < 0 ? _MaxDim : NV

Protected Attributes
DenseBase	S

Friends
class	JointMotionSubspaceBase< JointMotionSubspaceTpl >
template<typename S2, int O2>
Eigen::Matrix< _Scalar, 6, _Dim, _Options, 6, _MaxDim >	operator* (const Eigen::Matrix< S2, 6, 6, O2 > &Ymatrix, const JointMotionSubspaceTpl &S)
template<typename S2, int O2>
JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim >::DenseBase	operator* (const InertiaTpl< S2, O2 > &Y, const JointMotionSubspaceTpl &S)

Detailed Description

template<int _Dim, typename _Scalar, int _Options, int _MaxDim>
struct pinocchio::JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim >

Definition at line 65 of file joint-motion-subspace-generic.hpp.

Member Typedef Documentation

Base

template<int _Dim, typename _Scalar, int _Options, int _MaxDim>

typedef JointMotionSubspaceBase<JointMotionSubspaceTpl> Base

Definition at line 70 of file joint-motion-subspace-generic.hpp.

Member Enumeration Documentation

anonymous enum

template<int _Dim, typename _Scalar, int _Options, int _MaxDim>

anonymous enum

Definition at line 75 of file joint-motion-subspace-generic.hpp.

Constructor & Destructor Documentation

JointMotionSubspaceTpl() [1/4]

template<int _Dim, typename _Scalar, int _Options, int _MaxDim>

template<typename D>

JointMotionSubspaceTpl ( const Eigen::MatrixBase< D > & _S )

inlineexplicit

Definition at line 85 of file joint-motion-subspace-generic.hpp.

JointMotionSubspaceTpl() [2/4]

template<int _Dim, typename _Scalar, int _Options, int _MaxDim>

JointMotionSubspaceTpl ( )

inline

Definition at line 94 of file joint-motion-subspace-generic.hpp.

JointMotionSubspaceTpl() [3/4]

template<int _Dim, typename _Scalar, int _Options, int _MaxDim>

JointMotionSubspaceTpl ( const int dim )

inlineexplicit

Definition at line 102 of file joint-motion-subspace-generic.hpp.

JointMotionSubspaceTpl() [4/4]

template<int _Dim, typename _Scalar, int _Options, int _MaxDim>

template<int D, int MD>

JointMotionSubspaceTpl ( const JointMotionSubspaceTpl< D, _Scalar, _Options, MD > subspace )

inlineexplicit

Definition at line 112 of file joint-motion-subspace-generic.hpp.

Member Function Documentation

__mult__()

template<int _Dim, typename _Scalar, int _Options, int _MaxDim>

template<typename VectorLike>

JointMotion __mult__ ( const Eigen::MatrixBase< VectorLike > & vj ) const

inline

Definition at line 126 of file joint-motion-subspace-generic.hpp.

disp_impl()

template<int _Dim, typename _Scalar, int _Options, int _MaxDim>

void disp_impl ( std::ostream & os ) const

inline

Definition at line 213 of file joint-motion-subspace-generic.hpp.

isEqual()

template<int _Dim, typename _Scalar, int _Options, int _MaxDim>

bool isEqual ( const JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim > & other ) const

inline

Definition at line 218 of file joint-motion-subspace-generic.hpp.

matrix_impl() [1/2]

template<int _Dim, typename _Scalar, int _Options, int _MaxDim>

MatrixReturnType matrix_impl ( )

inline

Definition at line 159 of file joint-motion-subspace-generic.hpp.

matrix_impl() [2/2]

template<int _Dim, typename _Scalar, int _Options, int _MaxDim>

ConstMatrixReturnType matrix_impl ( ) const

inline

Definition at line 163 of file joint-motion-subspace-generic.hpp.

motionAction()

template<int _Dim, typename _Scalar, int _Options, int _MaxDim>

template<typename MotionDerived>

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

inline

Definition at line 206 of file joint-motion-subspace-generic.hpp.

nv()

template<int _Dim, typename _Scalar, int _Options, int _MaxDim>

int nv ( ) const

inline

Definition at line 91 of file joint-motion-subspace-base.hpp.

nv_impl()

template<int _Dim, typename _Scalar, int _Options, int _MaxDim>

int nv_impl ( ) const

inline

Definition at line 168 of file joint-motion-subspace-generic.hpp.

se3Action()

template<int _Dim, typename _Scalar, int _Options, int _MaxDim>

DenseBase se3Action ( const SE3Tpl< Scalar, Options > & m ) const

inline

Definition at line 191 of file joint-motion-subspace-generic.hpp.

se3ActionInverse()

template<int _Dim, typename _Scalar, int _Options, int _MaxDim>

DenseBase se3ActionInverse ( const SE3Tpl< Scalar, Options > & m ) const

inline

Definition at line 198 of file joint-motion-subspace-generic.hpp.

transpose()

template<int _Dim, typename _Scalar, int _Options, int _MaxDim>

Transpose transpose ( ) const

inline

Definition at line 154 of file joint-motion-subspace-generic.hpp.

Zero()

template<int _Dim, typename _Scalar, int _Options, int _MaxDim>

JointMotionSubspaceTpl Zero ( const int dim )

inlinestatic

Definition at line 120 of file joint-motion-subspace-generic.hpp.

Friends And Related Symbol Documentation

JointMotionSubspaceBase< JointMotionSubspaceTpl >

template<int _Dim, typename _Scalar, int _Options, int _MaxDim>

friend class JointMotionSubspaceBase< JointMotionSubspaceTpl >

friend

Definition at line 70 of file joint-motion-subspace-generic.hpp.

operator* [1/2]

template<int _Dim, typename _Scalar, int _Options, int _MaxDim>

template<typename S2, int O2>

Eigen::Matrix< _Scalar, 6, _Dim, _Options, 6, _MaxDim > operator* ( const Eigen::Matrix< S2, 6, 6, O2 > & Ymatrix, const JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim > & S )

friend

Definition at line 185 of file joint-motion-subspace-generic.hpp.

operator* [2/2]

template<int _Dim, typename _Scalar, int _Options, int _MaxDim>

template<typename S2, int O2>

JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim >::DenseBase operator* ( const InertiaTpl< S2, O2 > & Y, const JointMotionSubspaceTpl< _Dim, _Scalar, _Options, _MaxDim > & S )

friend

Definition at line 175 of file joint-motion-subspace-generic.hpp.

Member Data Documentation

MaxNV

template<int _Dim, typename _Scalar, int _Options, int _MaxDim>

int MaxNV = NV < 0 ? _MaxDim : NV

staticconstexpr

Definition at line 80 of file joint-motion-subspace-generic.hpp.

S

template<int _Dim, typename _Scalar, int _Options, int _MaxDim>

DenseBase S

protected

Definition at line 224 of file joint-motion-subspace-generic.hpp.

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

• include/pinocchio/multibody/joint-motion-subspace-generic.hpp