ModelConfigurationConverterTpl< _Scalar, _Options, JointCollectionTpl > Struct Template Reference

#include <pinocchio/parsers/graph/model-configuration-converter.hpp>

Public Types
enum	{ Options = _Options }
typedef internal::ConfigurationMapping	ConfigurationMapping
typedef JointCollectionTpl< Scalar, Options >	JointCollection
typedef internal::JointMapping< Scalar, Options, JointCollectionTpl >	JointMapping
typedef JointCollection::JointModelVariant	JointModelVariant
typedef _Scalar	Scalar
typedef internal::TangentMapping	TangentMapping

Public Member Functions
	ModelConfigurationConverterTpl (std::vector< ConfigurationMapping > configuration_mapping, std::vector< TangentMapping > tangent_mapping, std::vector< JointMapping > joint_mapping, int source_configuration_size, int source_tangent_size, int target_configuration_size, int target_tangent_size)
template<typename ConfigVectorType1, typename ConfigVectorType2>
void	convertConfigurationVector (const Eigen::MatrixBase< ConfigVectorType1 > &q_source, const Eigen::MatrixBase< ConfigVectorType2 > &q_target) const
template<typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2>
void	convertTangentVector (const Eigen::MatrixBase< ConfigVectorType > &q_source, const Eigen::MatrixBase< TangentVectorType1 > &v_source, const Eigen::MatrixBase< TangentVectorType2 > &v_target) const

Public Attributes
std::vector< ConfigurationMapping >	_configuration_mapping
std::vector< JointMapping >	_joint_mapping
int	_source_configuration_size
int	_source_tangent_size
std::vector< TangentMapping >	_tangent_mapping
int	_target_configuration_size
int	_target_tangent_size

Detailed Description

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>
struct pinocchio::graph::ModelConfigurationConverterTpl< _Scalar, _Options, JointCollectionTpl >

Convert configuration or tangent vector from two model with different root. All members are considered internal.

Definition at line 63 of file model-configuration-converter.hpp.

Member Typedef Documentation

ConfigurationMapping

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef internal::ConfigurationMapping ConfigurationMapping

Definition at line 73 of file model-configuration-converter.hpp.

JointCollection

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef JointCollectionTpl<Scalar, Options> JointCollection

Definition at line 70 of file model-configuration-converter.hpp.

JointMapping

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef internal::JointMapping<Scalar, Options, JointCollectionTpl> JointMapping

Definition at line 75 of file model-configuration-converter.hpp.

JointModelVariant

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef JointCollection::JointModelVariant JointModelVariant

Definition at line 71 of file model-configuration-converter.hpp.

Scalar

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef _Scalar Scalar

Definition at line 65 of file model-configuration-converter.hpp.

TangentMapping

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

typedef internal::TangentMapping TangentMapping

Definition at line 74 of file model-configuration-converter.hpp.

Member Enumeration Documentation

anonymous enum

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

anonymous enum

Definition at line 66 of file model-configuration-converter.hpp.

Constructor & Destructor Documentation

ModelConfigurationConverterTpl()

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

ModelConfigurationConverterTpl ( std::vector< ConfigurationMapping > configuration_mapping, std::vector< TangentMapping > tangent_mapping, std::vector< JointMapping > joint_mapping, int source_configuration_size, int source_tangent_size, int target_configuration_size, int target_tangent_size )

inline

Definition at line 78 of file model-configuration-converter.hpp.

Member Function Documentation

convertConfigurationVector()

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

template<typename ConfigVectorType1, typename ConfigVectorType2>

void convertConfigurationVector	(	const Eigen::MatrixBase< ConfigVectorType1 > &	q_source,
		const Eigen::MatrixBase< ConfigVectorType2 > &	q_target ) const

Convert q_source configuration vector from source model to q_target configuration vector from target model.

convertTangentVector()

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

template<typename ConfigVectorType, typename TangentVectorType1, typename TangentVectorType2>

void convertTangentVector	(	const Eigen::MatrixBase< ConfigVectorType > &	q_source,
		const Eigen::MatrixBase< TangentVectorType1 > &	v_source,
		const Eigen::MatrixBase< TangentVectorType2 > &	v_target ) const

Convert v_source tangent vector from source model to v_target tangent vector from target model.

Warning

Converting acceleration vector from JointModelSphericalZYXTpl doesn't work because of the velocity-dependent spatial acceleration term (c_j).

Member Data Documentation

_configuration_mapping

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

std::vector<ConfigurationMapping> _configuration_mapping

Contains configuration vector mapping between source and target model. This vector contains all flattened model joints (with composite joint contents).

Definition at line 115 of file model-configuration-converter.hpp.

_joint_mapping

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

std::vector<JointMapping> _joint_mapping

Contains joint mapping between source and target model. This vector contains all flattened model joints (with composite joint contents).

Definition at line 121 of file model-configuration-converter.hpp.

_source_configuration_size

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

int _source_configuration_size

Definition at line 122 of file model-configuration-converter.hpp.

_source_tangent_size

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

int _source_tangent_size

Definition at line 123 of file model-configuration-converter.hpp.

_tangent_mapping

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

std::vector<TangentMapping> _tangent_mapping

Contains tangent vector mapping between source and target model. This vector contains all flattened model joints (with composite joint contents).

Definition at line 118 of file model-configuration-converter.hpp.

_target_configuration_size

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

int _target_configuration_size

Definition at line 124 of file model-configuration-converter.hpp.

_target_tangent_size

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>

int _target_tangent_size

Definition at line 125 of file model-configuration-converter.hpp.

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

• include/pinocchio/parsers/graph/model-configuration-converter.hpp