se3::JointModelBase< _JointModel > Struct Template Reference

#include <multibody/joint/joint-base.hpp>

List of all members.

Public Types

typedef traits< _JointModel >
::Joint 
Joint
typedef Eigen::Matrix< double,
NQ, 1 > 
ConfigVector_t
typedef Eigen::Matrix< double,
NV, 1 > 
TangentVector_t

Public Member Functions

JointModel & derived ()
const JointModel & derived () const
JointData createData () const
void calc (JointData &data, const Eigen::VectorXd &qs) const
void calc (JointData &data, const Eigen::VectorXd &qs, const Eigen::VectorXd &vs) const
int nv () const
int nq () const
int nv_impl () const
int nq_impl () const
const int & idx_q () const
const int & idx_v () const
const Index & id () const
const ConfigVector_tlowerPosLimit () const
const ConfigVector_tupperPosLimit () const
const TangentVector_tmaxEffortLimit () const
const TangentVector_tmaxVelocityLimit () const
void setIndexes (Index id, int q, int v)
void setLowerPositionLimit (const ConfigVector_t &lowerPos)
void setUpperPositionLimit (const ConfigVector_t &upperPos)
void setMaxEffortLimit (const TangentVector_t &effort)
void setMaxVelocityLimit (const TangentVector_t &v)
template<typename D >
SizeDepType< NQ >::template
SegmentReturn< D >::ConstType 
jointConfigSelector (const Eigen::MatrixBase< D > &a) const
template<typename D >
SizeDepType< NQ >::template
SegmentReturn< D >::ConstType 
jointConfigSelector_impl (const Eigen::MatrixBase< D > &a) const
template<typename D >
SizeDepType< NQ >::template
SegmentReturn< D >::Type 
jointConfigSelector (Eigen::MatrixBase< D > &a) const
template<typename D >
SizeDepType< NQ >::template
SegmentReturn< D >::Type 
jointConfigSelector_impl (Eigen::MatrixBase< D > &a) const
template<typename D >
SizeDepType< NV >::template
SegmentReturn< D >::ConstType 
jointVelocitySelector (const Eigen::MatrixBase< D > &a) const
template<typename D >
SizeDepType< NV >::template
SegmentReturn< D >::ConstType 
jointVelocitySelector_impl (const Eigen::MatrixBase< D > &a) const
template<typename D >
SizeDepType< NV >::template
SegmentReturn< D >::Type 
jointVelocitySelector (Eigen::MatrixBase< D > &a) const
template<typename D >
SizeDepType< NV >::template
SegmentReturn< D >::Type 
jointVelocitySelector_impl (Eigen::MatrixBase< D > &a) const
template<typename D >
SizeDepType< NV >::template
ColsReturn< D >::ConstType 
jointCols (const Eigen::MatrixBase< D > &A) const
template<typename D >
SizeDepType< NV >::template
ColsReturn< D >::ConstType 
jointCols_impl (const Eigen::MatrixBase< D > &A) const
template<typename D >
SizeDepType< NV >::template
ColsReturn< D >::Type 
jointCols (Eigen::MatrixBase< D > &A) const
template<typename D >
SizeDepType< NV >::template
ColsReturn< D >::Type 
jointCols_impl (Eigen::MatrixBase< D > &A) const
JointModelDense< NQ, NV > toDense () const

Public Attributes

 SE3_JOINT_TYPEDEF_TEMPLATE
Index i_id
int i_q
int i_v
ConfigVector_t position_lower
ConfigVector_t position_upper
TangentVector_t effortMax
TangentVector_t velocityMax

template<typename _JointModel>
struct se3::JointModelBase< _JointModel >


Member Typedef Documentation

template<typename _JointModel>
typedef Eigen::Matrix<double,NQ,1> se3::JointModelBase< _JointModel >::ConfigVector_t
template<typename _JointModel>
typedef Eigen::Matrix<double,NV,1> se3::JointModelBase< _JointModel >::TangentVector_t

Member Function Documentation

template<typename _JointModel>
const JointModel& se3::JointModelBase< _JointModel >::derived ( ) const [inline]
template<typename _JointModel>
template<typename D >
SizeDepType<NV>::template ColsReturn<D>::ConstType se3::JointModelBase< _JointModel >::jointCols ( const Eigen::MatrixBase< D > &  A) const [inline]
template<typename _JointModel>
template<typename D >
SizeDepType<NV>::template ColsReturn<D>::Type se3::JointModelBase< _JointModel >::jointCols ( Eigen::MatrixBase< D > &  A) const [inline]
template<typename _JointModel>
template<typename D >
SizeDepType<NV>::template ColsReturn<D>::ConstType se3::JointModelBase< _JointModel >::jointCols_impl ( const Eigen::MatrixBase< D > &  A) const [inline]
template<typename _JointModel>
template<typename D >
SizeDepType<NV>::template ColsReturn<D>::Type se3::JointModelBase< _JointModel >::jointCols_impl ( Eigen::MatrixBase< D > &  A) const [inline]
template<typename _JointModel>
template<typename D >
SizeDepType<NQ>::template SegmentReturn<D>::ConstType se3::JointModelBase< _JointModel >::jointConfigSelector ( const Eigen::MatrixBase< D > &  a) const [inline]
template<typename _JointModel>
template<typename D >
SizeDepType<NQ>::template SegmentReturn<D>::Type se3::JointModelBase< _JointModel >::jointConfigSelector ( Eigen::MatrixBase< D > &  a) const [inline]
template<typename _JointModel>
template<typename D >
SizeDepType<NQ>::template SegmentReturn<D>::ConstType se3::JointModelBase< _JointModel >::jointConfigSelector_impl ( const Eigen::MatrixBase< D > &  a) const [inline]
template<typename _JointModel>
template<typename D >
SizeDepType<NQ>::template SegmentReturn<D>::Type se3::JointModelBase< _JointModel >::jointConfigSelector_impl ( Eigen::MatrixBase< D > &  a) const [inline]
template<typename _JointModel>
template<typename D >
SizeDepType<NV>::template SegmentReturn<D>::ConstType se3::JointModelBase< _JointModel >::jointVelocitySelector ( const Eigen::MatrixBase< D > &  a) const [inline]
template<typename _JointModel>
template<typename D >
SizeDepType<NV>::template SegmentReturn<D>::Type se3::JointModelBase< _JointModel >::jointVelocitySelector ( Eigen::MatrixBase< D > &  a) const [inline]
template<typename _JointModel>
template<typename D >
SizeDepType<NV>::template SegmentReturn<D>::ConstType se3::JointModelBase< _JointModel >::jointVelocitySelector_impl ( const Eigen::MatrixBase< D > &  a) const [inline]
template<typename _JointModel>
template<typename D >
SizeDepType<NV>::template SegmentReturn<D>::Type se3::JointModelBase< _JointModel >::jointVelocitySelector_impl ( Eigen::MatrixBase< D > &  a) const [inline]
template<typename _JointModel>
int se3::JointModelBase< _JointModel >::nq ( ) const [inline]

Referenced by se3::Model::addBody().

template<typename _JointModel>
int se3::JointModelBase< _JointModel >::nq_impl ( ) const [inline]
template<typename _JointModel>
int se3::JointModelBase< _JointModel >::nv ( ) const [inline]
template<typename _JointModel>
int se3::JointModelBase< _JointModel >::nv_impl ( ) const [inline]
template<typename _JointModel>
void se3::JointModelBase< _JointModel >::setIndexes ( Index  id,
int  q,
int  v 
) [inline]
template<typename _JointModel>
void se3::JointModelBase< _JointModel >::setLowerPositionLimit ( const ConfigVector_t lowerPos) [inline]
template<typename _JointModel>
void se3::JointModelBase< _JointModel >::setMaxEffortLimit ( const TangentVector_t effort) [inline]
template<typename _JointModel>
void se3::JointModelBase< _JointModel >::setMaxVelocityLimit ( const TangentVector_t v) [inline]
template<typename _JointModel>
void se3::JointModelBase< _JointModel >::setUpperPositionLimit ( const ConfigVector_t upperPos) [inline]
template<typename _JointModel>
JointModelDense<NQ, NV> se3::JointModelBase< _JointModel >::toDense ( ) const [inline]

Member Data Documentation