#include <multibody/joint/joint-spherical.hpp>
Public Types | |
typedef JointSpherical | Joint |
typedef Eigen::Matrix< double, 6, 6 > | Matrix6 |
typedef Eigen::Matrix< double, 3, 1 > | Vector3 |
typedef Eigen::Quaternion< double > | Quaternion |
Public Member Functions | |
JointDataSpherical () | |
JointDataDense< NQ, NV > | toDense_impl () const |
Public Attributes | |
SE3_JOINT_TYPEDEF | |
Constraint_t | S |
Transformation_t | M |
Motion_t | v |
Bias_t | c |
F_t | F |
typedef JointSpherical se3::JointDataSpherical::Joint |
Reimplemented from se3::JointDataBase< JointDataSpherical >.
typedef Eigen::Matrix<double,6,6> se3::JointDataSpherical::Matrix6 |
typedef Eigen::Quaternion<double> se3::JointDataSpherical::Quaternion |
typedef Eigen::Matrix<double,3,1> se3::JointDataSpherical::Vector3 |
se3::JointDataSpherical::JointDataSpherical | ( | ) | [inline] |
JointDataDense<NQ, NV> se3::JointDataSpherical::toDense_impl | ( | ) | const [inline] |
Bias_t se3::JointDataSpherical::c |
Transformation_t se3::JointDataSpherical::M |
Constraint_t se3::JointDataSpherical::S |
Motion_t se3::JointDataSpherical::v |