pinocchio  3.9.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
Loading...
Searching...
No Matches
TransformRevoluteTpl< _Scalar, _Options, axis > Struct Template Reference
Inheritance diagram for TransformRevoluteTpl< _Scalar, _Options, axis >:
Inheritance graph
[legend]
Collaboration diagram for TransformRevoluteTpl< _Scalar, _Options, axis >:
Collaboration graph
[legend]

Public Member Functions

 TransformRevoluteTpl (const Scalar &sin, const Scalar &cos)
Scalar & cos ()
const Scalar & cos () const
bool isEqual (const TransformRevoluteTpl &other) const
 operator PlainType () const
 PINOCCHIO_SE3_TYPEDEF_TPL (TransformRevoluteTpl)
PlainType plain () const
AngularType rotation () const
template<typename S2, int O2>
SE3GroupAction< TransformRevoluteTpl >::ReturnType se3action (const SE3Tpl< S2, O2 > &m) const
template<typename OtherScalar>
void setValues (const OtherScalar &sin, const OtherScalar &cos)
Scalar & sin ()
const Scalar & sin () const
LinearType translation () const
Public Member Functions inherited from SE3Base< TransformRevoluteTpl< _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)
TransformRevoluteTpl< _Scalar, _Options, axis > & const_cast_derived () const
TransformRevoluteTpl< _Scalar, _Options, axis > & derived ()
void disp (std::ostream &os) const
bool isApprox (const TransformRevoluteTpl< _Scalar, _Options, axis > &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
bool isIdentity (const typename traits< TransformRevoluteTpl< _Scalar, _Options, axis > >::Scalar &prec=Eigen::NumTraits< typename traits< TransformRevoluteTpl< _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 TransformRevoluteTpl< _Scalar, _Options, axis > &other) const
SE3GroupAction< TransformRevoluteTpl< _Scalar, _Options, axis > >::ReturnType operator* (const TransformRevoluteTpl< _Scalar, _Options, axis > &m2) const
bool operator== (const TransformRevoluteTpl< _Scalar, _Options, axis > &other) const
 PINOCCHIO_SE3_TYPEDEF_TPL (TransformRevoluteTpl< _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_sin

Additional Inherited Members

Public Types inherited from NumericalBase< TransformRevoluteTpl< _Scalar, _Options, axis > >
typedef traits< TransformRevoluteTpl< _Scalar, _Options, axis > >::Scalar Scalar

Detailed Description

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

Definition at line 97 of file joint-revolute.hpp.

Constructor & Destructor Documentation

◆ TransformRevoluteTpl() [1/2]

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

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

◆ TransformRevoluteTpl() [2/2]

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

Definition at line 105 of file joint-revolute.hpp.

Member Function Documentation

◆ _setRotation()

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

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

◆ cos() [1/2]

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

Definition at line 171 of file joint-revolute.hpp.

◆ cos() [2/2]

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

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

◆ isEqual()

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

Definition at line 194 of file joint-revolute.hpp.

◆ operator PlainType()

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

Definition at line 118 of file joint-revolute.hpp.

◆ plain()

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

Definition at line 111 of file joint-revolute.hpp.

◆ rotation()

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

Definition at line 187 of file joint-revolute.hpp.

◆ se3action()

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

Definition at line 125 of file joint-revolute.hpp.

◆ setValues()

template<typename _Scalar, int _Options, int axis>
template<typename OtherScalar>
void setValues(const OtherScalar &sin,
const OtherScalar &cos )
inline

Definition at line 177 of file joint-revolute.hpp.

◆ sin() [1/2]

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

Definition at line 162 of file joint-revolute.hpp.

◆ sin() [2/2]

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

Definition at line 158 of file joint-revolute.hpp.

◆ translation()

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

Definition at line 183 of file joint-revolute.hpp.

Member Data Documentation

◆ m_cos

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

Definition at line 201 of file joint-revolute.hpp.

◆ m_sin

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

Definition at line 201 of file joint-revolute.hpp.

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