Inheritance diagram for MotionHelicalUnalignedTpl< _Scalar, _Options >:

Collaboration diagram for MotionHelicalUnalignedTpl< _Scalar, _Options >:

Public Member Functions
template<typename Vector3Like, typename OtherScalar>
	MotionHelicalUnalignedTpl (const Eigen::MatrixBase< Vector3Like > &axis, const OtherScalar &w, const OtherScalar &v)
template<typename OtherScalar>
MotionHelicalUnalignedTpl	__mult__ (const OtherScalar &alpha) const
template<typename MotionDerived>
void	addTo (MotionDense< MotionDerived > &v) const
Scalar &	angularRate ()
const Scalar &	angularRate () const
Vector3 &	axis ()
const Vector3 &	axis () const
bool	isEqual_impl (const MotionHelicalUnalignedTpl &other) const
Scalar &	linearRate ()
const Scalar &	linearRate () const
	MOTION_TYPEDEF_TPL (MotionHelicalUnalignedTpl)
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< MotionHelicalUnalignedTpl< _Scalar, _Options > >
ConstAngularType	angular () const
MotionHelicalUnalignedTpl< _Scalar, _Options > &	const_cast_derived () const
MotionAlgebraAction< OtherSpatialType, MotionHelicalUnalignedTpl< _Scalar, _Options > >::ReturnType	cross (const OtherSpatialType &d) const
MotionHelicalUnalignedTpl< _Scalar, _Options > &	derived ()
void	disp (std::ostream &os) const
Scalar	dot (const ForceDense< ForceDerived > &f) const
bool	isApprox (const MotionHelicalUnalignedTpl< _Scalar, _Options > &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 (MotionHelicalUnalignedTpl< _Scalar, _Options >)
	operator Matrix6 () const
	operator PlainReturnType () const
	operator Vector6 () const
bool	operator!= (const MotionBase< M2 > &other) const
internal::RHSScalarMultiplication< MotionHelicalUnalignedTpl< _Scalar, _Options >, OtherScalar >::ReturnType	operator* (const OtherScalar &alpha) const
MotionHelicalUnalignedTpl< _Scalar, _Options >	operator+ (const MotionBase< MotionHelicalUnalignedTpl< _Scalar, _Options > > &v) const
MotionHelicalUnalignedTpl< _Scalar, _Options > &	operator+= (const MotionBase< MotionHelicalUnalignedTpl< _Scalar, _Options > > &v)
MotionHelicalUnalignedTpl< _Scalar, _Options >	operator- () const
MotionHelicalUnalignedTpl< _Scalar, _Options > &	operator-= (const MotionBase< MotionHelicalUnalignedTpl< _Scalar, _Options > > &v)
MotionHelicalUnalignedTpl< _Scalar, _Options >	operator/ (const OtherScalar &alpha) const
bool	operator== (const MotionBase< M2 > &other) const
PlainReturnType	plain () const
SE3GroupAction< MotionHelicalUnalignedTpl< _Scalar, _Options > >::ReturnType	se3Action (const SE3Tpl< S2, O2 > &m) const
SE3GroupAction< MotionHelicalUnalignedTpl< _Scalar, _Options > >::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
Vector3	m_axis
Scalar	m_v
Scalar	m_w

Detailed Description

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

Definition at line 64 of file joint-helical-unaligned.hpp.

Constructor & Destructor Documentation

◆ MotionHelicalUnalignedTpl() [1/2]

template<typename _Scalar, int _Options>

MotionHelicalUnalignedTpl ( )

inline

Definition at line 70 of file joint-helical-unaligned.hpp.

◆ MotionHelicalUnalignedTpl() [2/2]

template<typename _Scalar, int _Options>

template<typename Vector3Like, typename OtherScalar>

MotionHelicalUnalignedTpl	(	const Eigen::MatrixBase< Vector3Like > &	axis,
		const OtherScalar &	w,
		const OtherScalar &	v )

inline

Definition at line 75 of file joint-helical-unaligned.hpp.

Member Function Documentation

◆ mult()

template<typename _Scalar, int _Options>

template<typename OtherScalar>

MotionHelicalUnalignedTpl __mult__ ( const OtherScalar & alpha ) const

inline

Definition at line 89 of file joint-helical-unaligned.hpp.

◆ addTo()

template<typename _Scalar, int _Options>

template<typename MotionDerived>

void addTo ( MotionDense< MotionDerived > & v ) const

inline

Definition at line 105 of file joint-helical-unaligned.hpp.

◆ angularRate() [1/2]

template<typename _Scalar, int _Options>

Scalar & angularRate ( )

inline

Definition at line 170 of file joint-helical-unaligned.hpp.

◆ angularRate() [2/2]

template<typename _Scalar, int _Options>

const Scalar & angularRate ( ) const

inline

Definition at line 174 of file joint-helical-unaligned.hpp.

◆ axis() [1/2]

template<typename _Scalar, int _Options>

Vector3 & axis ( )

inline

Definition at line 188 of file joint-helical-unaligned.hpp.

◆ axis() [2/2]

template<typename _Scalar, int _Options>

const Vector3 & axis ( ) const

inline

Definition at line 192 of file joint-helical-unaligned.hpp.

◆ isEqual_impl()

template<typename _Scalar, int _Options>

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

inline

Definition at line 197 of file joint-helical-unaligned.hpp.

◆ linearRate() [1/2]

template<typename _Scalar, int _Options>

Scalar & linearRate ( )

inline

Definition at line 179 of file joint-helical-unaligned.hpp.

◆ linearRate() [2/2]

template<typename _Scalar, int _Options>

const Scalar & linearRate ( ) const

inline

Definition at line 183 of file joint-helical-unaligned.hpp.

◆ motionAction() [1/2]

template<typename _Scalar, int _Options>

template<typename M1>

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

inline

Definition at line 163 of file joint-helical-unaligned.hpp.

◆ motionAction() [2/2]

template<typename _Scalar, int _Options>

template<typename M1, typename M2>

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

inline

Definition at line 148 of file joint-helical-unaligned.hpp.

◆ plain()

template<typename _Scalar, int _Options>

PlainReturnType plain ( ) const

inline

Definition at line 83 of file joint-helical-unaligned.hpp.

◆ se3Action_impl() [1/2]

template<typename _Scalar, int _Options>

template<typename S2, int O2>

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

inline

Definition at line 119 of file joint-helical-unaligned.hpp.

◆ se3Action_impl() [2/2]

template<typename _Scalar, int _Options>

template<typename S2, int O2, typename D2>

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

inline

Definition at line 112 of file joint-helical-unaligned.hpp.

◆ se3ActionInverse_impl() [1/2]

template<typename _Scalar, int _Options>

template<typename S2, int O2>

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

inline

Definition at line 140 of file joint-helical-unaligned.hpp.

◆ se3ActionInverse_impl() [2/2]

template<typename _Scalar, int _Options>

template<typename S2, int O2, typename D2>

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

inline

Definition at line 127 of file joint-helical-unaligned.hpp.

◆ setTo()

template<typename _Scalar, int _Options>

template<typename MotionDerived>

void setTo ( MotionDense< MotionDerived > & m ) const

inline

Definition at line 95 of file joint-helical-unaligned.hpp.

Member Data Documentation

◆ m_axis

template<typename _Scalar, int _Options>

Vector3 m_axis

protected

Definition at line 204 of file joint-helical-unaligned.hpp.

◆ m_v

template<typename _Scalar, int _Options>

Scalar m_v

protected

Definition at line 205 of file joint-helical-unaligned.hpp.

◆ m_w

template<typename _Scalar, int _Options>

Scalar m_w

protected

Definition at line 205 of file joint-helical-unaligned.hpp.

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

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MotionHelicalUnalignedTpl() [1/2]

◆ MotionHelicalUnalignedTpl() [2/2]

Member Function Documentation

◆ __mult__()

◆ addTo()

◆ angularRate() [1/2]

◆ angularRate() [2/2]

◆ axis() [1/2]

◆ axis() [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_axis

◆ m_v

◆ m_w

◆ mult()