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

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

Public Types
typedef SpatialAxis< axis+ANGULAR >	AxisAngular
typedef SpatialAxis< axis+LINEAR >	AxisLinear
typedef AxisAngular::CartesianAxis3	CartesianAxis3Angular
typedef AxisLinear::CartesianAxis3	CartesianAxis3Linear

Public Member Functions
	MotionHelicalTpl (const Scalar &w, const Scalar &v)
template<typename OtherScalar>
MotionHelicalTpl	__mult__ (const OtherScalar &alpha) const
template<typename MotionDerived>
void	addTo (MotionDense< MotionDerived > &v) const
Scalar &	angularRate ()
const Scalar &	angularRate () const
bool	isEqual_impl (const MotionHelicalTpl &other) const
Scalar &	linearRate ()
const Scalar &	linearRate () const
	MOTION_TYPEDEF_TPL (MotionHelicalTpl)
template<typename M1>
MotionPlain	motionAction (const MotionDense< M1 > &v) const
template<typename M1, typename M2>
void	motionAction (const MotionDense< M1 > &v, MotionDense< M2 > &mout) const
PlainReturnType	plain () const
template<typename S2, int O2>
MotionPlain	se3Action_impl (const SE3Tpl< S2, O2 > &m) const
template<typename S2, int O2, typename D2>
void	se3Action_impl (const SE3Tpl< S2, O2 > &m, MotionDense< D2 > &v) const
template<typename S2, int O2>
MotionPlain	se3ActionInverse_impl (const SE3Tpl< S2, O2 > &m) const
template<typename S2, int O2, typename D2>
void	se3ActionInverse_impl (const SE3Tpl< S2, O2 > &m, MotionDense< D2 > &v) const
template<typename MotionDerived>
void	setTo (MotionDense< MotionDerived > &m) const
Public Member Functions inherited from MotionBase< MotionHelicalTpl< _Scalar, _Options, axis > >
ConstAngularType	angular () const
MotionHelicalTpl< _Scalar, _Options, axis > &	const_cast_derived () const
MotionAlgebraAction< OtherSpatialType, MotionHelicalTpl< _Scalar, _Options, axis > >::ReturnType	cross (const OtherSpatialType &d) const
MotionHelicalTpl< _Scalar, _Options, axis > &	derived ()
void	disp (std::ostream &os) const
Scalar	dot (const ForceDense< ForceDerived > &f) const
bool	isApprox (const MotionHelicalTpl< _Scalar, _Options, axis > &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
bool	isZero (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
ConstLinearType	linear () const
	MOTION_TYPEDEF_TPL (MotionHelicalTpl< _Scalar, _Options, axis >)
	operator Matrix6 () const
	operator PlainReturnType () const
	operator Vector6 () const
bool	operator!= (const MotionBase< M2 > &other) const
internal::RHSScalarMultiplication< MotionHelicalTpl< _Scalar, _Options, axis >, OtherScalar >::ReturnType	operator* (const OtherScalar &alpha) const
MotionHelicalTpl< _Scalar, _Options, axis >	operator+ (const MotionBase< MotionHelicalTpl< _Scalar, _Options, axis > > &v) const
MotionHelicalTpl< _Scalar, _Options, axis > &	operator+= (const MotionBase< MotionHelicalTpl< _Scalar, _Options, axis > > &v)
MotionHelicalTpl< _Scalar, _Options, axis >	operator- () const
MotionHelicalTpl< _Scalar, _Options, axis > &	operator-= (const MotionBase< MotionHelicalTpl< _Scalar, _Options, axis > > &v)
MotionHelicalTpl< _Scalar, _Options, axis >	operator/ (const OtherScalar &alpha) const
bool	operator== (const MotionBase< M2 > &other) const
PlainReturnType	plain () const
SE3GroupAction< MotionHelicalTpl< _Scalar, _Options, axis > >::ReturnType	se3Action (const SE3Tpl< S2, O2 > &m) const
SE3GroupAction< MotionHelicalTpl< _Scalar, _Options, axis > >::ReturnType	se3ActionInverse (const SE3Tpl< S2, O2 > &m) const
void	setZero ()
ActionMatrixType	toActionMatrix () const
ActionMatrixType	toDualActionMatrix () const
HomogeneousMatrixType	toHomogeneousMatrix () const
	The homogeneous representation of the motion vector $\xi$ .
ToVectorConstReturnType	toVector () const

Protected Attributes
Scalar	m_v
Scalar	m_w

Detailed Description

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

Definition at line 252 of file joint-helical.hpp.

Member Typedef Documentation

◆ AxisAngular

template<typename _Scalar, int _Options, int axis>

typedef SpatialAxis<axis + ANGULAR> AxisAngular

Definition at line 257 of file joint-helical.hpp.

◆ AxisLinear

template<typename _Scalar, int _Options, int axis>

typedef SpatialAxis<axis + LINEAR> AxisLinear

Definition at line 259 of file joint-helical.hpp.

◆ CartesianAxis3Angular

template<typename _Scalar, int _Options, int axis>

typedef AxisAngular::CartesianAxis3 CartesianAxis3Angular

Definition at line 258 of file joint-helical.hpp.

◆ CartesianAxis3Linear

template<typename _Scalar, int _Options, int axis>

typedef AxisLinear::CartesianAxis3 CartesianAxis3Linear

Definition at line 260 of file joint-helical.hpp.

Constructor & Destructor Documentation

◆ MotionHelicalTpl() [1/2]

template<typename _Scalar, int _Options, int axis>

MotionHelicalTpl ( )

inline

Definition at line 262 of file joint-helical.hpp.

◆ MotionHelicalTpl() [2/2]

template<typename _Scalar, int _Options, int axis>

MotionHelicalTpl	(	const Scalar &	w,
		const Scalar &	v )

inline

Definition at line 266 of file joint-helical.hpp.

Member Function Documentation

◆ mult()

template<typename _Scalar, int _Options, int axis>

template<typename OtherScalar>

MotionHelicalTpl __mult__ ( const OtherScalar & alpha ) const

inline

Definition at line 278 of file joint-helical.hpp.

◆ addTo()

template<typename _Scalar, int _Options, int axis>

template<typename MotionDerived>

void addTo ( MotionDense< MotionDerived > & v ) const

inline

Definition at line 294 of file joint-helical.hpp.

◆ angularRate() [1/2]

template<typename _Scalar, int _Options, int axis>

Scalar & angularRate ( )

inline

Definition at line 356 of file joint-helical.hpp.

◆ angularRate() [2/2]

template<typename _Scalar, int _Options, int axis>

const Scalar & angularRate ( ) const

inline

Definition at line 360 of file joint-helical.hpp.

◆ isEqual_impl()

template<typename _Scalar, int _Options, int axis>

bool isEqual_impl ( const MotionHelicalTpl< _Scalar, _Options, axis > & other ) const

inline

Definition at line 374 of file joint-helical.hpp.

◆ linearRate() [1/2]

template<typename _Scalar, int _Options, int axis>

Scalar & linearRate ( )

inline

Definition at line 365 of file joint-helical.hpp.

◆ linearRate() [2/2]

template<typename _Scalar, int _Options, int axis>

const Scalar & linearRate ( ) const

inline

Definition at line 369 of file joint-helical.hpp.

◆ motionAction() [1/2]

template<typename _Scalar, int _Options, int axis>

template<typename M1>

MotionPlain motionAction ( const MotionDense< M1 > & v ) const

inline

Definition at line 349 of file joint-helical.hpp.

◆ motionAction() [2/2]

template<typename _Scalar, int _Options, int axis>

template<typename M1, typename M2>

void motionAction	(	const MotionDense< M1 > &	v,
		MotionDense< M2 > &	mout ) const

inline

Definition at line 338 of file joint-helical.hpp.

◆ plain()

template<typename _Scalar, int _Options, int axis>

PlainReturnType plain ( ) const

inline

Definition at line 272 of file joint-helical.hpp.

◆ se3Action_impl() [1/2]

template<typename _Scalar, int _Options, int axis>

template<typename S2, int O2>

MotionPlain se3Action_impl ( const SE3Tpl< S2, O2 > & m ) const

inline

Definition at line 309 of file joint-helical.hpp.

◆ se3Action_impl() [2/2]

template<typename _Scalar, int _Options, int axis>

template<typename S2, int O2, typename D2>

void se3Action_impl	(	const SE3Tpl< S2, O2 > &	m,
		MotionDense< D2 > &	v ) const

inline

Definition at line 302 of file joint-helical.hpp.

◆ se3ActionInverse_impl() [1/2]

template<typename _Scalar, int _Options, int axis>

template<typename S2, int O2>

MotionPlain se3ActionInverse_impl ( const SE3Tpl< S2, O2 > & m ) const

inline

Definition at line 330 of file joint-helical.hpp.

◆ se3ActionInverse_impl() [2/2]

template<typename _Scalar, int _Options, int axis>

template<typename S2, int O2, typename D2>

void se3ActionInverse_impl	(	const SE3Tpl< S2, O2 > &	m,
		MotionDense< D2 > &	v ) const

inline

Definition at line 318 of file joint-helical.hpp.

◆ setTo()

template<typename _Scalar, int _Options, int axis>

template<typename MotionDerived>

void setTo ( MotionDense< MotionDerived > & m ) const

inline

Definition at line 284 of file joint-helical.hpp.

Member Data Documentation

◆ m_v

template<typename _Scalar, int _Options, int axis>

Scalar m_v

protected

Definition at line 380 of file joint-helical.hpp.

◆ m_w

template<typename _Scalar, int _Options, int axis>

Scalar m_w

protected

Definition at line 380 of file joint-helical.hpp.

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

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

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ AxisAngular

◆ AxisLinear

◆ CartesianAxis3Angular

◆ CartesianAxis3Linear

Constructor & Destructor Documentation

◆ MotionHelicalTpl() [1/2]

◆ MotionHelicalTpl() [2/2]

Member Function Documentation

◆ __mult__()

◆ addTo()

◆ angularRate() [1/2]

◆ angularRate() [2/2]

◆ isEqual_impl()

◆ linearRate() [1/2]

◆ linearRate() [2/2]

◆ motionAction() [1/2]

◆ motionAction() [2/2]

◆ plain()

◆ se3Action_impl() [1/2]

◆ se3Action_impl() [2/2]

◆ se3ActionInverse_impl() [1/2]

◆ se3ActionInverse_impl() [2/2]

◆ setTo()

Member Data Documentation

◆ m_v

◆ m_w

◆ mult()