#include <multibody/joint/joint-spherical-ZYX.hpp>
Public Member Functions | |
ConstraintTranspose (const ConstraintRotationalSubspace &ref) | |
const Eigen::CoeffBasedProduct < Eigen::Transpose < Eigen::Matrix< double, 3, 3 > > &, const Eigen::Matrix < double, 3, 1 > &,6 >::PlainObject | operator* (const Force &phi) |
Public Attributes | |
const ConstraintRotationalSubspace & | ref |
Friends | |
template<typename D > | |
const Eigen::ProductReturnType < Eigen::Transpose< const Eigen::Matrix< typename Eigen::MatrixBase< D >::Scalar, 3, 3 > >, Eigen::Block< const Eigen::Block< Eigen::Matrix < typename Eigen::MatrixBase < D >::Scalar, 6,-1 > ,-1,-1 >, 3,-1 > >::Type | operator* (const ConstraintTranspose &constraint_transpose, const Eigen::MatrixBase< D > &F) |
se3::JointSphericalZYXTpl< _Scalar, _Options >::ConstraintRotationalSubspace::ConstraintTranspose::ConstraintTranspose | ( | const ConstraintRotationalSubspace & | ref | ) | [inline] |
const Eigen::CoeffBasedProduct< Eigen::Transpose<Eigen::Matrix<double, 3, 3> >&, const Eigen::Matrix<double, 3, 1>& ,6>::PlainObject se3::JointSphericalZYXTpl< _Scalar, _Options >::ConstraintRotationalSubspace::ConstraintTranspose::operator* | ( | const Force & | phi | ) | [inline] |
const Eigen::ProductReturnType< Eigen::Transpose<const Eigen::Matrix<typename Eigen::MatrixBase<D>::Scalar, 3, 3> >, Eigen::Block<const Eigen::Block<Eigen::Matrix<typename Eigen::MatrixBase<D>::Scalar,6,-1>,-1,-1>, 3, -1> >::Type operator* | ( | const ConstraintTranspose & | constraint_transpose, |
const Eigen::MatrixBase< D > & | F | ||
) | [friend] |
const ConstraintRotationalSubspace& se3::JointSphericalZYXTpl< _Scalar, _Options >::ConstraintRotationalSubspace::ConstraintTranspose::ref |