pinocchio 4.1.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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ConstraintModelBasePythonVisitor< ConstraintModelDerived > Struct Template Reference
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Public Types

typedef BaumgarteCorrectorParametersTpl< context::Scalar > BaumgarteCorrectorParameters
typedef Self::BooleanVector BooleanVector
typedef ::pinocchio::traits< Self >::ConeScalingVectorType ConeScalingVectorType
typedef ::pinocchio::traits< Self >::ConeVectorType ConeVectorType
typedef ::pinocchio::traits< Self >::ConstraintData ConstraintData
typedef ::pinocchio::traits< Self >::ConstraintModel ConstraintModel
typedef ::pinocchio::traits< Self >::ConstraintSet ConstraintSet
typedef context::Data Data
typedef Self::EigenIndexVector EigenIndexVector
typedef std::vector< context::Force > ForceVector
typedef ::pinocchio::traits< Self >::JacobianMatrixType JacobianMatrixType
typedef ::pinocchio::traits< Self >::JordanOperation JordanOperation
typedef context::Model Model
typedef std::vector< context::Motion > MotionVector
typedef ::pinocchio::traits< Self >::ResidualVectorType ResidualVectorType
typedef ::pinocchio::traits< Self >::Scalar Scalar
typedef ConstraintModelDerived Self

Public Member Functions

template<class PyClass>
void visit (PyClass &cl) const

Static Public Member Functions

static void appendCouplingConstraintInertias (const Self &self, const Model &model, Data &data, const ConstraintData &constraint_data, const context::VectorXs &diagonal_constraint_inertia, ReferenceFrame rf)
static void calc (const Self &self, const Model &model, const Data &data, ConstraintData &constraint_data)
static context::MatrixXs jacobianMatrixProduct (const Self &self, const Model &model, const Data &data, const ConstraintData &constraint_data, const context::RefConstMatrixXs &matrix)
static context::MatrixXs jacobianTransposeMatrixProduct (const Self &self, const Model &model, const Data &data, const ConstraintData &constraint_data, const context::RefConstMatrixXs &matrix)
static context::VectorXs mapConstraintForceToJointSpace (const Self &self, const Model &model, const Data &data, const ConstraintData &cdata, const context::VectorXs &constraint_forces, ForceVector &joint_forces, ReferenceFrame rf)
static context::VectorXs mapJointSpaceToConstraintMotion (const Self &self, const Model &model, const Data &data, const ConstraintData &cdata, const MotionVector &joint_motions, const context::VectorXs &joint_generalized_velocity, ReferenceFrame rf)
static int residualSize (const Self &self, ConstraintSelectionType sel)
static ResidualVectorType retrieveCompliance (const Self &self, ConstraintSelectionType sel)
static void setBaumgarteCorrectorParameters (Self &self, const BaumgarteCorrectorParameters &copy, ConstraintSelectionType sel)
static void setCompliance (Self &self, const ResidualVectorType &vector, ConstraintSelectionType sel)
static int symmetricConeResidualScalingSize (const Self &self, ConstraintSelectionType sel)
static int symmetricConeResidualSize (const Self &self, ConstraintSelectionType sel)

Static Public Attributes

static constexpr bool has_baumgarte_corrector
static constexpr bool has_set = ::pinocchio::traits<Self>::has_set

Detailed Description

template<class ConstraintModelDerived>
struct pinocchio::python::ConstraintModelBasePythonVisitor< ConstraintModelDerived >

Definition at line 27 of file constraint-model-base.hpp.

Member Typedef Documentation

◆ BaumgarteCorrectorParameters

template<class ConstraintModelDerived>
typedef BaumgarteCorrectorParametersTpl<context::Scalar> BaumgarteCorrectorParameters

Definition at line 55 of file constraint-model-base.hpp.

◆ BooleanVector

template<class ConstraintModelDerived>
typedef Self::BooleanVector BooleanVector

Definition at line 52 of file constraint-model-base.hpp.

◆ ConeScalingVectorType

template<class ConstraintModelDerived>
typedef ::pinocchio::traits<Self>::ConeScalingVectorType ConeScalingVectorType

Definition at line 41 of file constraint-model-base.hpp.

◆ ConeVectorType

template<class ConstraintModelDerived>
typedef ::pinocchio::traits<Self>::ConeVectorType ConeVectorType

Definition at line 40 of file constraint-model-base.hpp.

◆ ConstraintData

template<class ConstraintModelDerived>
typedef ::pinocchio::traits<Self>::ConstraintData ConstraintData

Definition at line 32 of file constraint-model-base.hpp.

◆ ConstraintModel

template<class ConstraintModelDerived>
typedef ::pinocchio::traits<Self>::ConstraintModel ConstraintModel

Definition at line 31 of file constraint-model-base.hpp.

◆ ConstraintSet

template<class ConstraintModelDerived>
typedef ::pinocchio::traits<Self>::ConstraintSet ConstraintSet

Definition at line 35 of file constraint-model-base.hpp.

◆ Data

template<class ConstraintModelDerived>
typedef context::Data Data

Definition at line 48 of file constraint-model-base.hpp.

◆ EigenIndexVector

template<class ConstraintModelDerived>
typedef Self::EigenIndexVector EigenIndexVector

Definition at line 53 of file constraint-model-base.hpp.

◆ ForceVector

template<class ConstraintModelDerived>
typedef std::vector<context::Force> ForceVector

Definition at line 49 of file constraint-model-base.hpp.

◆ JacobianMatrixType

template<class ConstraintModelDerived>
typedef ::pinocchio::traits<Self>::JacobianMatrixType JacobianMatrixType

Definition at line 39 of file constraint-model-base.hpp.

◆ JordanOperation

template<class ConstraintModelDerived>
typedef ::pinocchio::traits<Self>::JordanOperation JordanOperation

Definition at line 36 of file constraint-model-base.hpp.

◆ Model

template<class ConstraintModelDerived>
typedef context::Model Model

Definition at line 47 of file constraint-model-base.hpp.

◆ MotionVector

template<class ConstraintModelDerived>
typedef std::vector<context::Motion> MotionVector

Definition at line 50 of file constraint-model-base.hpp.

◆ ResidualVectorType

template<class ConstraintModelDerived>
typedef ::pinocchio::traits<Self>::ResidualVectorType ResidualVectorType

Definition at line 38 of file constraint-model-base.hpp.

◆ Scalar

template<class ConstraintModelDerived>
typedef ::pinocchio::traits<Self>::Scalar Scalar

Definition at line 33 of file constraint-model-base.hpp.

◆ Self

template<class ConstraintModelDerived>
typedef ConstraintModelDerived Self

Definition at line 30 of file constraint-model-base.hpp.

Member Function Documentation

◆ appendCouplingConstraintInertias()

template<class ConstraintModelDerived>
void appendCouplingConstraintInertias(const Self &self,
const Model &model,
Data &data,
const ConstraintData &constraint_data,
const context::VectorXs &diagonal_constraint_inertia,
ReferenceFramerf )
inlinestatic

Definition at line 347 of file constraint-model-base.hpp.

◆ calc()

template<class ConstraintModelDerived>
void calc(const Self &self,
const Model &model,
const Data &data,
ConstraintData &constraint_data )
inlinestatic

Definition at line 257 of file constraint-model-base.hpp.

◆ jacobianMatrixProduct()

template<class ConstraintModelDerived>
context::MatrixXs jacobianMatrixProduct(const Self &self,
const Model &model,
const Data &data,
const ConstraintData &constraint_data,
const context::RefConstMatrixXs &matrix )
inlinestatic

Definition at line 263 of file constraint-model-base.hpp.

◆ jacobianTransposeMatrixProduct()

template<class ConstraintModelDerived>
context::MatrixXs jacobianTransposeMatrixProduct(const Self &self,
const Model &model,
const Data &data,
const ConstraintData &constraint_data,
const context::RefConstMatrixXs &matrix )
inlinestatic

Definition at line 275 of file constraint-model-base.hpp.

◆ mapConstraintForceToJointSpace()

template<class ConstraintModelDerived>
context::VectorXs mapConstraintForceToJointSpace(const Self &self,
const Model &model,
const Data &data,
const ConstraintData &cdata,
const context::VectorXs &constraint_forces,
ForceVector &joint_forces,
ReferenceFramerf )
inlinestatic

Definition at line 287 of file constraint-model-base.hpp.

◆ mapJointSpaceToConstraintMotion()

template<class ConstraintModelDerived>
context::VectorXs mapJointSpaceToConstraintMotion(const Self &self,
const Model &model,
const Data &data,
const ConstraintData &cdata,
const MotionVector &joint_motions,
const context::VectorXs &joint_generalized_velocity,
ReferenceFramerf )
inlinestatic

Definition at line 316 of file constraint-model-base.hpp.

◆ residualSize()

template<class ConstraintModelDerived>
int residualSize(const Self &self,
ConstraintSelectionTypesel )
inlinestatic

Definition at line 175 of file constraint-model-base.hpp.

◆ retrieveCompliance()

template<class ConstraintModelDerived>
ResidualVectorType retrieveCompliance(const Self &self,
ConstraintSelectionTypesel )
inlinestatic

Definition at line 226 of file constraint-model-base.hpp.

◆ setBaumgarteCorrectorParameters()

template<class ConstraintModelDerived>
void setBaumgarteCorrectorParameters(Self &self,
const BaumgarteCorrectorParameters &copy,
ConstraintSelectionTypesel )
inlinestatic

Definition at line 245 of file constraint-model-base.hpp.

◆ setCompliance()

template<class ConstraintModelDerived>
void setCompliance(Self &self,
const ResidualVectorType &vector,
ConstraintSelectionTypesel )
inlinestatic

Definition at line 215 of file constraint-model-base.hpp.

◆ symmetricConeResidualScalingSize()

template<class ConstraintModelDerived>
int symmetricConeResidualScalingSize(const Self &self,
ConstraintSelectionTypesel )
inlinestatic

Definition at line 201 of file constraint-model-base.hpp.

◆ symmetricConeResidualSize()

template<class ConstraintModelDerived>
int symmetricConeResidualSize(const Self &self,
ConstraintSelectionTypesel )
inlinestatic

Definition at line 188 of file constraint-model-base.hpp.

◆ visit()

template<class ConstraintModelDerived>
template<class PyClass>
void visit(PyClass &cl)const
inline

Definition at line 59 of file constraint-model-base.hpp.

Member Data Documentation

◆ has_baumgarte_corrector

template<class ConstraintModelDerived>
bool has_baumgarte_corrector
staticconstexpr
Initial value:
=
::pinocchio::traits<Self>::has_baumgarte_corrector

Definition at line 43 of file constraint-model-base.hpp.

◆ has_set

template<class ConstraintModelDerived>
bool has_set = ::pinocchio::traits<Self>::has_set
staticconstexpr

Definition at line 45 of file constraint-model-base.hpp.

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