#include <multibody/joint/joint-base.hpp>
Public Types | |
typedef _JointData | Derived |
typedef JointDataBase< _JointData > | Base |
typedef traits< _JointData >::Joint | Joint |
Public Member Functions | |
JointData & | derived () |
const JointData & | derived () const |
const Constraint_t & | S () const |
const Transformation_t & | M () const |
const Motion_t & | v () const |
const Bias_t & | c () const |
F_t & | F () |
const U_t & | U () const |
U_t & | U () |
const D_t & | Dinv () const |
const UD_t & | UDinv () const |
JointDataDense< NQ, NV > | toDense () const |
Public Attributes | |
SE3_JOINT_TYPEDEF_TEMPLATE |
typedef JointDataBase<_JointData> se3::JointDataBase< _JointData >::Base |
Reimplemented in se3::JointDataDense< _NQ, _NV >.
typedef _JointData se3::JointDataBase< _JointData >::Derived |
Reimplemented in se3::JointDataDense< _NQ, _NV >.
typedef traits<_JointData>::Joint se3::JointDataBase< _JointData >::Joint |
Reimplemented in se3::JointDataRevolute< axis >, se3::JointDataPrismatic< axis >, se3::JointDataPlanar, se3::JointDataSphericalZYX, se3::JointDataRevoluteUnaligned, se3::JointDataPrismaticUnaligned, se3::JointDataTranslation, se3::JointDataSpherical, se3::JointDataFreeFlyer, se3::JointDataAccessor, se3::JointDataDense< _NQ, _NV >, and se3::JointDataGeneric.
const Bias_t& se3::JointDataBase< _JointData >::c | ( | ) | const [inline] |
JointData& se3::JointDataBase< _JointData >::derived | ( | ) | [inline] |
const JointData& se3::JointDataBase< _JointData >::derived | ( | ) | const [inline] |
const D_t& se3::JointDataBase< _JointData >::Dinv | ( | ) | const [inline] |
Reimplemented in se3::JointDataAccessor.
Referenced by se3::JointDataBase< JointDataSpherical >::Dinv().
F_t& se3::JointDataBase< _JointData >::F | ( | ) | [inline] |
Referenced by se3::JointDataBase< JointDataSpherical >::F().
const Transformation_t& se3::JointDataBase< _JointData >::M | ( | ) | const [inline] |
Reimplemented in se3::JointDataAccessor.
Referenced by se3::ForwardKinematicZeroStep::algo(), se3::CATForwardStep::algo(), se3::ForwardKinematicFirstStep::algo(), se3::ForwardKinematicSecondStep::algo(), se3::JointDataBase< JointDataSpherical >::M(), and se3::internal::JointDataVariantToGeneric::operator()().
const Constraint_t& se3::JointDataBase< _JointData >::S | ( | ) | const [inline] |
JointDataDense<NQ, NV> se3::JointDataBase< _JointData >::toDense | ( | ) | const [inline] |
const U_t& se3::JointDataBase< _JointData >::U | ( | ) | const [inline] |
Reimplemented in se3::JointDataAccessor.
Referenced by se3::JointDataBase< JointDataSpherical >::U().
U_t& se3::JointDataBase< _JointData >::U | ( | ) | [inline] |
Reimplemented in se3::JointDataAccessor.
const UD_t& se3::JointDataBase< _JointData >::UDinv | ( | ) | const [inline] |
Reimplemented in se3::JointDataAccessor.
Referenced by se3::JointDataBase< JointDataSpherical >::UDinv().
const Motion_t& se3::JointDataBase< _JointData >::v | ( | ) | const [inline] |
se3::JointDataBase< _JointData >::SE3_JOINT_TYPEDEF_TEMPLATE |
Reimplemented in se3::JointDataRevolute< axis >, se3::JointDataPrismatic< axis >, and se3::JointDataDense< _NQ, _NV >.