se3::JointSphericalZYXTpl< _Scalar, _Options >::ConstraintRotationalSubspace::ConstraintTranspose Struct Reference

#include <multibody/joint/joint-spherical-ZYX.hpp>

Collaboration diagram for se3::JointSphericalZYXTpl< _Scalar, _Options >::ConstraintRotationalSubspace::ConstraintTranspose:
[legend]

List of all members.

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)

template<typename _Scalar, int _Options>
struct se3::JointSphericalZYXTpl< _Scalar, _Options >::ConstraintRotationalSubspace::ConstraintTranspose


Constructor & Destructor Documentation

template<typename _Scalar , int _Options>
se3::JointSphericalZYXTpl< _Scalar, _Options >::ConstraintRotationalSubspace::ConstraintTranspose::ConstraintTranspose ( const ConstraintRotationalSubspace ref) [inline]

Member Function Documentation

template<typename _Scalar , int _Options>
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]

Friends And Related Function Documentation

template<typename _Scalar , int _Options>
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 
) [friend]

Member Data Documentation