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

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

List of all members.

Classes

struct  ConstraintTranspose

Public Types

enum  {
  NV = 3,
  Options = 0
}
typedef _Scalar Scalar
typedef Eigen::Matrix< _Scalar,
3, 3, _Options > 
Matrix3
typedef Eigen::Matrix< _Scalar,
3, 1, _Options > 
Vector3
typedef Eigen::Matrix< _Scalar,
6, 3, _Options > 
ConstraintDense

Public Member Functions

Motion operator* (const MotionSpherical &vj) const
 ConstraintRotationalSubspace ()
 ConstraintRotationalSubspace (const Matrix3 &subspace)
Matrix3operator() ()
const Matrix3operator() () const
Matrix3matrix ()
const Matrix3matrix () const
int nv_impl () const
ConstraintTranspose transpose () const
 operator ConstraintXd () const
Eigen::Matrix< Scalar,
6, 3, Options > 
se3Action (const SE3 &m) const

Public Attributes

Matrix3 S_minimal

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


Member Typedef Documentation

template<typename _Scalar , int _Options>
typedef Eigen::Matrix<_Scalar,6,3,_Options> se3::JointSphericalZYXTpl< _Scalar, _Options >::ConstraintRotationalSubspace::ConstraintDense
template<typename _Scalar , int _Options>
typedef Eigen::Matrix<_Scalar,3,3,_Options> se3::JointSphericalZYXTpl< _Scalar, _Options >::ConstraintRotationalSubspace::Matrix3
template<typename _Scalar , int _Options>
typedef _Scalar se3::JointSphericalZYXTpl< _Scalar, _Options >::ConstraintRotationalSubspace::Scalar
template<typename _Scalar , int _Options>
typedef Eigen::Matrix<_Scalar,3,1,_Options> se3::JointSphericalZYXTpl< _Scalar, _Options >::ConstraintRotationalSubspace::Vector3

Member Enumeration Documentation

template<typename _Scalar , int _Options>
anonymous enum
Enumerator:
NV 
Options 

Constructor & Destructor Documentation

template<typename _Scalar , int _Options>
se3::JointSphericalZYXTpl< _Scalar, _Options >::ConstraintRotationalSubspace::ConstraintRotationalSubspace ( ) [inline]
template<typename _Scalar , int _Options>
se3::JointSphericalZYXTpl< _Scalar, _Options >::ConstraintRotationalSubspace::ConstraintRotationalSubspace ( const Matrix3 subspace) [inline]

Member Function Documentation

template<typename _Scalar , int _Options>
Matrix3& se3::JointSphericalZYXTpl< _Scalar, _Options >::ConstraintRotationalSubspace::matrix ( ) [inline]
template<typename _Scalar , int _Options>
const Matrix3& se3::JointSphericalZYXTpl< _Scalar, _Options >::ConstraintRotationalSubspace::matrix ( ) const [inline]
template<typename _Scalar , int _Options>
int se3::JointSphericalZYXTpl< _Scalar, _Options >::ConstraintRotationalSubspace::nv_impl ( ) const [inline]
template<typename _Scalar , int _Options>
se3::JointSphericalZYXTpl< _Scalar, _Options >::ConstraintRotationalSubspace::operator ConstraintXd ( ) const [inline]
template<typename _Scalar , int _Options>
Matrix3& se3::JointSphericalZYXTpl< _Scalar, _Options >::ConstraintRotationalSubspace::operator() ( ) [inline]
template<typename _Scalar , int _Options>
const Matrix3& se3::JointSphericalZYXTpl< _Scalar, _Options >::ConstraintRotationalSubspace::operator() ( ) const [inline]
template<typename _Scalar , int _Options>
Motion se3::JointSphericalZYXTpl< _Scalar, _Options >::ConstraintRotationalSubspace::operator* ( const MotionSpherical vj) const [inline]
template<typename _Scalar , int _Options>
Eigen::Matrix<Scalar,6,3, Options> se3::JointSphericalZYXTpl< _Scalar, _Options >::ConstraintRotationalSubspace::se3Action ( const SE3 m) const [inline]
template<typename _Scalar , int _Options>
ConstraintTranspose se3::JointSphericalZYXTpl< _Scalar, _Options >::ConstraintRotationalSubspace::transpose ( ) const [inline]

Member Data Documentation