pinocchio  3.9.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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TransformHelicalTpl< _Scalar, _Options, axis > Struct Template Reference
Inheritance diagram for TransformHelicalTpl< _Scalar, _Options, axis >:
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Public Types

typedef SpatialAxis< axis+LINEAR > AxisLinear
typedef AxisLinear::CartesianAxis3 CartesianAxis3Linear
Public Types inherited from NumericalBase< TransformHelicalTpl< _Scalar, _Options, axis > >
typedef traits< TransformHelicalTpl< _Scalar, _Options, axis > >::Scalar Scalar

Public Member Functions

 TransformHelicalTpl (const Scalar &sin, const Scalar &cos, const Scalar &displacement)
Scalar & cos ()
const Scalar & cos () const
Scalar & displacement ()
const Scalar & displacement () const
bool isEqual (const TransformHelicalTpl &other) const
 operator PlainType () const
 PINOCCHIO_SE3_TYPEDEF_TPL (TransformHelicalTpl)
PlainType plain () const
AngularType rotation () const
template<typename S2, int O2>
SE3GroupAction< TransformHelicalTpl >::ReturnType se3action (const SE3Tpl< S2, O2 > &m) const
template<typename Scalar1, typename Scalar2, typename Scalar3>
void setValues (const Scalar1 &sin, const Scalar2 &cos, const Scalar3 &displacement)
Scalar & sin ()
const Scalar & sin () const
LinearType translation () const
Public Member Functions inherited from SE3Base< TransformHelicalTpl< _Scalar, _Options, axis > >
SE3GroupAction< D >::ReturnType act (const D &d) const
 ay = aXb.act(by)
SE3GroupAction< D >::ReturnType actInv (const D &d) const
 by = aXb.actInv(ay)
TransformHelicalTpl< _Scalar, _Options, axis > & const_cast_derived () const
TransformHelicalTpl< _Scalar, _Options, axis > & derived ()
void disp (std::ostream &os) const
bool isApprox (const TransformHelicalTpl< _Scalar, _Options, axis > &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
bool isIdentity (const typename traits< TransformHelicalTpl< _Scalar, _Options, axis > >::Scalar &prec=Eigen::NumTraits< typename traits< TransformHelicalTpl< _Scalar, _Options, axis > >::Scalar >::dummy_precision()) const
bool isNormalized (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
void normalize ()
 Normalize *this in such a way the rotation part of *this lies on SO(3).
PlainType normalized () const
 operator ActionMatrixType () const
 operator HomogeneousMatrixType () const
bool operator!= (const TransformHelicalTpl< _Scalar, _Options, axis > &other) const
SE3GroupAction< TransformHelicalTpl< _Scalar, _Options, axis > >::ReturnType operator* (const TransformHelicalTpl< _Scalar, _Options, axis > &m2) const
bool operator== (const TransformHelicalTpl< _Scalar, _Options, axis > &other) const
 PINOCCHIO_SE3_TYPEDEF_TPL (TransformHelicalTpl< _Scalar, _Options, axis >)
ConstAngularRef rotation () const
ActionMatrixType toActionMatrix () const
 The action matrix $ {}^aX_b $ of $ {}^aM_b $.
ActionMatrixType toActionMatrixInverse () const
 The action matrix $ {}^bX_a $ of $ {}^aM_b $.
ActionMatrixType toDualActionMatrix () const
HomogeneousMatrixType toHomogeneousMatrix () const
ConstLinearRef translation () const

Protected Member Functions

void _setRotation (typename PlainType::AngularRef &rot) const

Protected Attributes

Scalar m_cos
Scalar m_displacement
Scalar m_sin

Detailed Description

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

Definition at line 96 of file joint-helical.hpp.

Member Typedef Documentation

◆ AxisLinear

template<typename _Scalar, int _Options, int axis>
typedef SpatialAxis<axis + LINEAR> AxisLinear

Definition at line 101 of file joint-helical.hpp.

◆ CartesianAxis3Linear

template<typename _Scalar, int _Options, int axis>
typedef AxisLinear::CartesianAxis3 CartesianAxis3Linear

Definition at line 102 of file joint-helical.hpp.

Constructor & Destructor Documentation

◆ TransformHelicalTpl() [1/2]

template<typename _Scalar, int _Options, int axis>
TransformHelicalTpl()
inline

Definition at line 104 of file joint-helical.hpp.

◆ TransformHelicalTpl() [2/2]

template<typename _Scalar, int _Options, int axis>
TransformHelicalTpl(const Scalar &sin,
const Scalar &cos,
const Scalar &displacement )
inline

Definition at line 107 of file joint-helical.hpp.

Member Function Documentation

◆ _setRotation()

template<typename _Scalar, int _Options, int axis>
void _setRotation(typename PlainType::AngularRef &rot)const
inlineprotected

Definition at line 218 of file joint-helical.hpp.

◆ cos() [1/2]

template<typename _Scalar, int _Options, int axis>
Scalar & cos()
inline

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

◆ cos() [2/2]

template<typename _Scalar, int _Options, int axis>
const Scalar & cos()const
inline

Definition at line 172 of file joint-helical.hpp.

◆ displacement() [1/2]

template<typename _Scalar, int _Options, int axis>
Scalar & displacement()
inline

Definition at line 185 of file joint-helical.hpp.

◆ displacement() [2/2]

template<typename _Scalar, int _Options, int axis>
const Scalar & displacement()const
inline

Definition at line 181 of file joint-helical.hpp.

◆ isEqual()

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

Definition at line 209 of file joint-helical.hpp.

◆ operator PlainType()

template<typename _Scalar, int _Options, int axis>
operator PlainType()const
inline

Definition at line 122 of file joint-helical.hpp.

◆ plain()

template<typename _Scalar, int _Options, int axis>
PlainType plain()const
inline

Definition at line 114 of file joint-helical.hpp.

◆ rotation()

template<typename _Scalar, int _Options, int axis>
AngularType rotation()const
inline

Definition at line 202 of file joint-helical.hpp.

◆ se3action()

template<typename _Scalar, int _Options, int axis>
template<typename S2, int O2>
SE3GroupAction< TransformHelicalTpl >::ReturnType se3action(const SE3Tpl< S2, O2 > &m)const
inline

Definition at line 129 of file joint-helical.hpp.

◆ setValues()

template<typename _Scalar, int _Options, int axis>
template<typename Scalar1, typename Scalar2, typename Scalar3>
void setValues(const Scalar1 &sin,
const Scalar2 &cos,
const Scalar3 &displacement )
inline

Definition at line 191 of file joint-helical.hpp.

◆ sin() [1/2]

template<typename _Scalar, int _Options, int axis>
Scalar & sin()
inline

Definition at line 167 of file joint-helical.hpp.

◆ sin() [2/2]

template<typename _Scalar, int _Options, int axis>
const Scalar & sin()const
inline

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

◆ translation()

template<typename _Scalar, int _Options, int axis>
LinearType translation()const
inline

Definition at line 198 of file joint-helical.hpp.

Member Data Documentation

◆ m_cos

template<typename _Scalar, int _Options, int axis>
Scalar m_cos
protected

Definition at line 217 of file joint-helical.hpp.

◆ m_displacement

template<typename _Scalar, int _Options, int axis>
Scalar m_displacement
protected

Definition at line 217 of file joint-helical.hpp.

◆ m_sin

template<typename _Scalar, int _Options, int axis>
Scalar m_sin
protected

Definition at line 217 of file joint-helical.hpp.

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