#include <multibody/joint/joint-base.hpp>
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_t & | lowerPosLimit () const |
const ConfigVector_t & | upperPosLimit () const |
const TangentVector_t & | maxEffortLimit () const |
const TangentVector_t & | maxVelocityLimit () 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 |
typedef Eigen::Matrix<double,NQ,1> se3::JointModelBase< _JointModel >::ConfigVector_t |
typedef traits<_JointModel>::Joint se3::JointModelBase< _JointModel >::Joint |
Reimplemented in se3::JointModelRevolute< axis >, se3::JointModelPrismatic< axis >, se3::JointModelPlanar, se3::JointModelRevoluteUnaligned, se3::JointModelPrismaticUnaligned, se3::JointModelSphericalZYX, se3::JointModelTranslation, se3::JointModelSpherical, se3::JointModelFreeFlyer, se3::JointModelDense< _NQ, _NV >, and se3::JointModelGeneric.
typedef Eigen::Matrix<double,NV,1> se3::JointModelBase< _JointModel >::TangentVector_t |
void se3::JointModelBase< _JointModel >::calc | ( | JointData & | data, |
const Eigen::VectorXd & | qs | ||
) | const [inline] |
Reimplemented in se3::JointModelRevolute< axis >, se3::JointModelPrismatic< axis >, se3::JointModelPlanar, se3::JointModelPrismaticUnaligned, se3::JointModelRevoluteUnaligned, se3::JointModelSphericalZYX, se3::JointModelTranslation, se3::JointModelSpherical, se3::JointModelFreeFlyer, and se3::JointModelDense< _NQ, _NV >.
Referenced by se3::JacobiansForwardStep::algo(), se3::NLEForwardStep::algo(), se3::RneaForwardStep::algo(), se3::CATForwardStep::algo(), se3::CrbaForwardStep::algo(), se3::ForwardKinematicZeroStep::algo(), se3::JacobianForwardStep::algo(), se3::ForwardKinematicFirstStep::algo(), se3::JacobianCenterOfMassForwardStep::algo(), se3::ForwardKinematicSecondStep::algo(), and se3::JointModelBase< JointModelDense< _NQ, _NV > >::calc().
void se3::JointModelBase< _JointModel >::calc | ( | JointData & | data, |
const Eigen::VectorXd & | qs, | ||
const Eigen::VectorXd & | vs | ||
) | const [inline] |
Reimplemented in se3::JointModelRevolute< axis >, se3::JointModelPrismatic< axis >, se3::JointModelPlanar, se3::JointModelPrismaticUnaligned, se3::JointModelRevoluteUnaligned, se3::JointModelSphericalZYX, se3::JointModelTranslation, se3::JointModelSpherical, se3::JointModelFreeFlyer, and se3::JointModelDense< _NQ, _NV >.
Referenced by se3::JointModelBase< JointModelDense< _NQ, _NV > >::calc().
JointData se3::JointModelBase< _JointModel >::createData | ( | ) | const [inline] |
Reimplemented in se3::JointModelRevolute< axis >, se3::JointModelPrismatic< axis >, se3::JointModelPlanar, se3::JointModelPrismaticUnaligned, se3::JointModelRevoluteUnaligned, se3::JointModelSphericalZYX, se3::JointModelTranslation, se3::JointModelSpherical, se3::JointModelFreeFlyer, se3::JointModelDense< _NQ, _NV >, and se3::JointModelGeneric.
Referenced by se3::JointModelBase< JointModelDense< _NQ, _NV > >::createData(), and se3::CreateJointData::operator()().
JointModel& se3::JointModelBase< _JointModel >::derived | ( | ) | [inline] |
Referenced by se3::Model::addBody(), se3::JointModelBase< JointModelDense< _NQ, _NV > >::jointCols(), se3::JointModelBase< JointModelDense< _NQ, _NV > >::jointConfigSelector(), se3::JointModelBase< JointModelDense< _NQ, _NV > >::jointVelocitySelector(), se3::JointModelBase< JointModelDense< _NQ, _NV > >::nq(), and se3::JointModelBase< JointModelDense< _NQ, _NV > >::nv().
const JointModel& se3::JointModelBase< _JointModel >::derived | ( | ) | const [inline] |
const Index& se3::JointModelBase< _JointModel >::id | ( | ) | const [inline] |
Referenced by se3::JacobiansForwardStep::algo(), se3::CATForwardStep::algo(), se3::CrbaForwardStep::algo(), se3::CrbaBackwardStep::algo(), se3::CATBackwardStep::algo(), se3::JacobianForwardStep::algo(), se3::JacobianCenterOfMassForwardStep::algo(), se3::JacobianCenterOfMassBackwardStep::algo(), se3::JointModelDense< _NQ, _NV >::operator==(), se3::JointModelFreeFlyer::operator==(), se3::JointModelSpherical::operator==(), se3::JointModelTranslation::operator==(), se3::JointModelPrismaticUnaligned::operator==(), se3::JointModelRevoluteUnaligned::operator==(), se3::JointModelPlanar::operator==(), se3::JointModelSphericalZYX::operator==(), se3::JointModelPrismatic< axis >::operator==(), and se3::JointModelBase< JointModelDense< _NQ, _NV > >::setIndexes().
const int& se3::JointModelBase< _JointModel >::idx_q | ( | ) | const [inline] |
Referenced by se3::Joint_idx_q::operator()(), se3::internal::JointModelVariantToGeneric::operator()(), se3::JointModelGeneric::operator=(), se3::JointModelDense< _NQ, _NV >::operator==(), se3::JointModelFreeFlyer::operator==(), se3::JointModelSpherical::operator==(), se3::JointModelTranslation::operator==(), se3::JointModelPrismaticUnaligned::operator==(), se3::JointModelRevoluteUnaligned::operator==(), se3::JointModelPlanar::operator==(), se3::JointModelSphericalZYX::operator==(), and se3::JointModelPrismatic< axis >::operator==().
const int& se3::JointModelBase< _JointModel >::idx_v | ( | ) | const [inline] |
Referenced by se3::CrbaBackwardStep::algo(), se3::CATBackwardStep::algo(), se3::JacobianCenterOfMassBackwardStep::algo(), se3::Joint_idx_v::operator()(), se3::internal::JointModelVariantToGeneric::operator()(), se3::JointModelGeneric::operator=(), se3::JointModelDense< _NQ, _NV >::operator==(), se3::JointModelFreeFlyer::operator==(), se3::JointModelSpherical::operator==(), se3::JointModelTranslation::operator==(), se3::JointModelPrismaticUnaligned::operator==(), se3::JointModelRevoluteUnaligned::operator==(), se3::JointModelPlanar::operator==(), se3::JointModelSphericalZYX::operator==(), and se3::JointModelPrismatic< axis >::operator==().
SizeDepType<NV>::template ColsReturn<D>::ConstType se3::JointModelBase< _JointModel >::jointCols | ( | const Eigen::MatrixBase< D > & | A | ) | const [inline] |
SizeDepType<NV>::template ColsReturn<D>::Type se3::JointModelBase< _JointModel >::jointCols | ( | Eigen::MatrixBase< D > & | A | ) | const [inline] |
SizeDepType<NV>::template ColsReturn<D>::ConstType se3::JointModelBase< _JointModel >::jointCols_impl | ( | const Eigen::MatrixBase< D > & | A | ) | const [inline] |
Reimplemented in se3::JointModelDense< _NQ, _NV >, and se3::JointModelDense< _NQ, _NV >.
SizeDepType<NV>::template ColsReturn<D>::Type se3::JointModelBase< _JointModel >::jointCols_impl | ( | Eigen::MatrixBase< D > & | A | ) | const [inline] |
Reimplemented in se3::JointModelDense< _NQ, _NV >, and se3::JointModelDense< _NQ, _NV >.
SizeDepType<NQ>::template SegmentReturn<D>::ConstType se3::JointModelBase< _JointModel >::jointConfigSelector | ( | const Eigen::MatrixBase< D > & | a | ) | const [inline] |
Referenced by se3::JointLimitsStep::algo().
SizeDepType<NQ>::template SegmentReturn<D>::Type se3::JointModelBase< _JointModel >::jointConfigSelector | ( | Eigen::MatrixBase< D > & | a | ) | const [inline] |
SizeDepType<NQ>::template SegmentReturn<D>::ConstType se3::JointModelBase< _JointModel >::jointConfigSelector_impl | ( | const Eigen::MatrixBase< D > & | a | ) | const [inline] |
Reimplemented in se3::JointModelDense< _NQ, _NV >, and se3::JointModelDense< _NQ, _NV >.
SizeDepType<NQ>::template SegmentReturn<D>::Type se3::JointModelBase< _JointModel >::jointConfigSelector_impl | ( | Eigen::MatrixBase< D > & | a | ) | const [inline] |
Reimplemented in se3::JointModelDense< _NQ, _NV >, and se3::JointModelDense< _NQ, _NV >.
SizeDepType<NV>::template SegmentReturn<D>::ConstType se3::JointModelBase< _JointModel >::jointVelocitySelector | ( | const Eigen::MatrixBase< D > & | a | ) | const [inline] |
SizeDepType<NV>::template SegmentReturn<D>::Type se3::JointModelBase< _JointModel >::jointVelocitySelector | ( | Eigen::MatrixBase< D > & | a | ) | const [inline] |
SizeDepType<NV>::template SegmentReturn<D>::ConstType se3::JointModelBase< _JointModel >::jointVelocitySelector_impl | ( | const Eigen::MatrixBase< D > & | a | ) | const [inline] |
Reimplemented in se3::JointModelDense< _NQ, _NV >, and se3::JointModelDense< _NQ, _NV >.
SizeDepType<NV>::template SegmentReturn<D>::Type se3::JointModelBase< _JointModel >::jointVelocitySelector_impl | ( | Eigen::MatrixBase< D > & | a | ) | const [inline] |
Reimplemented in se3::JointModelDense< _NQ, _NV >, and se3::JointModelDense< _NQ, _NV >.
const ConfigVector_t& se3::JointModelBase< _JointModel >::lowerPosLimit | ( | ) | const [inline] |
Referenced by se3::JointLimitsStep::algo(), se3::Joint_lowerPosLimit::operator()(), se3::JointModelDense< _NQ, _NV >::operator==(), se3::JointModelFreeFlyer::operator==(), se3::JointModelSpherical::operator==(), se3::JointModelTranslation::operator==(), se3::JointModelPrismaticUnaligned::operator==(), se3::JointModelRevoluteUnaligned::operator==(), se3::JointModelPlanar::operator==(), se3::JointModelSphericalZYX::operator==(), and se3::JointModelPrismatic< axis >::operator==().
const TangentVector_t& se3::JointModelBase< _JointModel >::maxEffortLimit | ( | ) | const [inline] |
Referenced by se3::JointLimitsStep::algo(), se3::Joint_maxEffortLimit::operator()(), se3::JointModelDense< _NQ, _NV >::operator==(), se3::JointModelFreeFlyer::operator==(), se3::JointModelSpherical::operator==(), se3::JointModelTranslation::operator==(), se3::JointModelPrismaticUnaligned::operator==(), se3::JointModelRevoluteUnaligned::operator==(), se3::JointModelPlanar::operator==(), se3::JointModelSphericalZYX::operator==(), and se3::JointModelPrismatic< axis >::operator==().
const TangentVector_t& se3::JointModelBase< _JointModel >::maxVelocityLimit | ( | ) | const [inline] |
Referenced by se3::JointLimitsStep::algo(), se3::Joint_maxVelocityLimit::operator()(), se3::JointModelDense< _NQ, _NV >::operator==(), se3::JointModelFreeFlyer::operator==(), se3::JointModelSpherical::operator==(), se3::JointModelTranslation::operator==(), se3::JointModelPrismaticUnaligned::operator==(), se3::JointModelRevoluteUnaligned::operator==(), se3::JointModelPlanar::operator==(), se3::JointModelSphericalZYX::operator==(), and se3::JointModelPrismatic< axis >::operator==().
int se3::JointModelBase< _JointModel >::nq | ( | ) | const [inline] |
Referenced by se3::Model::addBody().
int se3::JointModelBase< _JointModel >::nq_impl | ( | ) | const [inline] |
Reimplemented in se3::JointModelDense< _NQ, _NV >.
int se3::JointModelBase< _JointModel >::nv | ( | ) | const [inline] |
Referenced by se3::Model::addBody(), se3::CrbaBackwardStep::algo(), and se3::CATBackwardStep::algo().
int se3::JointModelBase< _JointModel >::nv_impl | ( | ) | const [inline] |
Reimplemented in se3::JointModelDense< _NQ, _NV >.
void se3::JointModelBase< _JointModel >::setIndexes | ( | Index | id, |
int | q, | ||
int | v | ||
) | [inline] |
Referenced by se3::internal::JointModelVariantToGeneric::operator()().
void se3::JointModelBase< _JointModel >::setLowerPositionLimit | ( | const ConfigVector_t & | lowerPos | ) | [inline] |
void se3::JointModelBase< _JointModel >::setMaxEffortLimit | ( | const TangentVector_t & | effort | ) | [inline] |
void se3::JointModelBase< _JointModel >::setMaxVelocityLimit | ( | const TangentVector_t & | v | ) | [inline] |
void se3::JointModelBase< _JointModel >::setUpperPositionLimit | ( | const ConfigVector_t & | upperPos | ) | [inline] |
JointModelDense<NQ, NV> se3::JointModelBase< _JointModel >::toDense | ( | ) | const [inline] |
const ConfigVector_t& se3::JointModelBase< _JointModel >::upperPosLimit | ( | ) | const [inline] |
Referenced by se3::JointLimitsStep::algo(), se3::Joint_upperPosLimit::operator()(), se3::JointModelDense< _NQ, _NV >::operator==(), se3::JointModelFreeFlyer::operator==(), se3::JointModelSpherical::operator==(), se3::JointModelTranslation::operator==(), se3::JointModelPrismaticUnaligned::operator==(), se3::JointModelRevoluteUnaligned::operator==(), se3::JointModelPlanar::operator==(), se3::JointModelSphericalZYX::operator==(), and se3::JointModelPrismatic< axis >::operator==().
TangentVector_t se3::JointModelBase< _JointModel >::effortMax |
Index se3::JointModelBase< _JointModel >::i_id |
int se3::JointModelBase< _JointModel >::i_q |
int se3::JointModelBase< _JointModel >::i_v |
ConfigVector_t se3::JointModelBase< _JointModel >::position_lower |
ConfigVector_t se3::JointModelBase< _JointModel >::position_upper |
se3::JointModelBase< _JointModel >::SE3_JOINT_TYPEDEF_TEMPLATE |
Reimplemented in se3::JointModelRevolute< axis >, se3::JointModelPrismatic< axis >, and se3::JointModelDense< _NQ, _NV >.
TangentVector_t se3::JointModelBase< _JointModel >::velocityMax |