#include <multibody/joint/joint-dense.hpp>
Public Types | |
typedef JointDense< _NQ, _NV > | Joint |
typedef JointModelBase < JointModelDense< _NQ, _NV > > | Base |
Public Member Functions | |
JointData | createData () const |
void | calc (JointData &, const Eigen::VectorXd &) const |
void | calc (JointData &, const Eigen::VectorXd &, const Eigen::VectorXd &) const |
void | calc_aba (JointData &, Inertia::Matrix6 &, const bool) const |
ConfigVector_t | integrate_impl (const Eigen::VectorXd &, const Eigen::VectorXd &) const |
ConfigVector_t | interpolate_impl (const Eigen::VectorXd &, const Eigen::VectorXd &, double) const |
ConfigVector_t | random_impl () const |
ConfigVector_t | randomConfiguration_impl (const ConfigVector_t &, const ConfigVector_t &) const |
TangentVector_t | difference_impl (const Eigen::VectorXd &, const Eigen::VectorXd &) const |
double | distance_impl (const Eigen::VectorXd &, const Eigen::VectorXd &) const |
JointModelDense () | |
JointModelDense (JointIndex idx, int idx_q, int idx_v) | |
int | nv_impl () const |
int | nq_impl () 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_impl (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_impl (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_impl (Eigen::MatrixBase< D > &A) const |
JointModelDense< _NQ, _NV > | toDense_impl () const |
template<class D > | |
bool | operator== (const JointModelBase< D > &) const |
bool | operator== (const JointModelBase< JointModelDense > &jmodel) const |
template<> | |
SizeDepType< Eigen::Dynamic > ::template SegmentReturn< D > ::ConstType | jointConfigSelector_impl (const Eigen::MatrixBase< D > &a) const |
template<> | |
SizeDepType< Eigen::Dynamic > ::template SegmentReturn< D > ::Type | jointConfigSelector_impl (Eigen::MatrixBase< D > &a) const |
template<> | |
SizeDepType< Eigen::Dynamic > ::template SegmentReturn< D > ::ConstType | jointVelocitySelector_impl (const Eigen::MatrixBase< D > &a) const |
template<> | |
SizeDepType< Eigen::Dynamic > ::template SegmentReturn< D > ::Type | jointVelocitySelector_impl (Eigen::MatrixBase< D > &a) const |
template<> | |
SizeDepType< Eigen::Dynamic > ::template ColsReturn< D > ::ConstType | jointCols_impl (const Eigen::MatrixBase< D > &A) const |
template<> | |
SizeDepType< Eigen::Dynamic > ::template ColsReturn< D > ::Type | jointCols_impl (Eigen::MatrixBase< D > &A) const |
Static Public Member Functions | |
static const std::string | shortname () |
Public Attributes | |
SE3_JOINT_TYPEDEF_TEMPLATE | |
int | nv_dyn |
int | nq_dyn |
typedef JointModelBase<JointModelDense<_NQ, _NV > > se3::JointModelDense< _NQ, _NV >::Base |
Reimplemented from se3::JointModelBase< JointModelDense< _NQ, _NV > >.
typedef JointDense<_NQ, _NV > se3::JointModelDense< _NQ, _NV >::Joint |
Reimplemented from se3::JointModelBase< JointModelDense< _NQ, _NV > >.
se3::JointModelDense< _NQ, _NV >::JointModelDense | ( | ) | [inline] |
se3::JointModelDense< _NQ, _NV >::JointModelDense | ( | JointIndex | idx, |
int | idx_q, | ||
int | idx_v | ||
) | [inline] |
void se3::JointModelDense< _NQ, _NV >::calc | ( | JointData & | , |
const Eigen::VectorXd & | |||
) | const [inline] |
Reimplemented from se3::JointModelBase< JointModelDense< _NQ, _NV > >.
void se3::JointModelDense< _NQ, _NV >::calc | ( | JointData & | , |
const Eigen::VectorXd & | , | ||
const Eigen::VectorXd & | |||
) | const [inline] |
Reimplemented from se3::JointModelBase< JointModelDense< _NQ, _NV > >.
void se3::JointModelDense< _NQ, _NV >::calc_aba | ( | JointData & | , |
Inertia::Matrix6 & | , | ||
const bool | |||
) | const [inline] |
Reimplemented from se3::JointModelBase< JointModelDense< _NQ, _NV > >.
JointData se3::JointModelDense< _NQ, _NV >::createData | ( | ) | const [inline] |
Reimplemented from se3::JointModelBase< JointModelDense< _NQ, _NV > >.
TangentVector_t se3::JointModelDense< _NQ, _NV >::difference_impl | ( | const Eigen::VectorXd & | , |
const Eigen::VectorXd & | |||
) | const [inline] |
double se3::JointModelDense< _NQ, _NV >::distance_impl | ( | const Eigen::VectorXd & | , |
const Eigen::VectorXd & | |||
) | const [inline] |
ConfigVector_t se3::JointModelDense< _NQ, _NV >::integrate_impl | ( | const Eigen::VectorXd & | , |
const Eigen::VectorXd & | |||
) | const [inline] |
ConfigVector_t se3::JointModelDense< _NQ, _NV >::interpolate_impl | ( | const Eigen::VectorXd & | , |
const Eigen::VectorXd & | , | ||
double | |||
) | const [inline] |
SizeDepType<NV>::template ColsReturn<D>::ConstType se3::JointModelDense< _NQ, _NV >::jointCols_impl | ( | const Eigen::MatrixBase< D > & | A | ) | const [inline] |
Reimplemented from se3::JointModelBase< JointModelDense< _NQ, _NV > >.
References se3::JointModelBase< JointModelDense< _NQ, _NV > >::i_v.
SizeDepType<NV>::template ColsReturn<D>::Type se3::JointModelDense< _NQ, _NV >::jointCols_impl | ( | Eigen::MatrixBase< D > & | A | ) | const [inline] |
Reimplemented from se3::JointModelBase< JointModelDense< _NQ, _NV > >.
References se3::JointModelBase< JointModelDense< _NQ, _NV > >::i_v.
SizeDepType< Eigen::Dynamic >::template ColsReturn< D >::ConstType se3::JointModelDense< Eigen::Dynamic, Eigen::Dynamic >::jointCols_impl | ( | const Eigen::MatrixBase< D > & | A | ) | const |
Reimplemented from se3::JointModelBase< JointModelDense< _NQ, _NV > >.
SizeDepType< Eigen::Dynamic >::template ColsReturn< D >::Type se3::JointModelDense< Eigen::Dynamic, Eigen::Dynamic >::jointCols_impl | ( | Eigen::MatrixBase< D > & | A | ) | const |
Reimplemented from se3::JointModelBase< JointModelDense< _NQ, _NV > >.
SizeDepType<NQ>::template SegmentReturn<D>::ConstType se3::JointModelDense< _NQ, _NV >::jointConfigSelector_impl | ( | const Eigen::MatrixBase< D > & | a | ) | const [inline] |
Reimplemented from se3::JointModelBase< JointModelDense< _NQ, _NV > >.
References se3::JointModelBase< JointModelDense< _NQ, _NV > >::i_q, and se3::JointModelDense< _NQ, _NV >::nq_dyn.
SizeDepType<NQ>::template SegmentReturn<D>::Type se3::JointModelDense< _NQ, _NV >::jointConfigSelector_impl | ( | Eigen::MatrixBase< D > & | a | ) | const [inline] |
Reimplemented from se3::JointModelBase< JointModelDense< _NQ, _NV > >.
References se3::JointModelBase< JointModelDense< _NQ, _NV > >::i_q, and se3::JointModelDense< _NQ, _NV >::nq_dyn.
SizeDepType< Eigen::Dynamic >::template SegmentReturn< D >::ConstType se3::JointModelDense< Eigen::Dynamic, Eigen::Dynamic >::jointConfigSelector_impl | ( | const Eigen::MatrixBase< D > & | a | ) | const |
Reimplemented from se3::JointModelBase< JointModelDense< _NQ, _NV > >.
SizeDepType< Eigen::Dynamic >::template SegmentReturn< D >::Type se3::JointModelDense< Eigen::Dynamic, Eigen::Dynamic >::jointConfigSelector_impl | ( | Eigen::MatrixBase< D > & | a | ) | const |
Reimplemented from se3::JointModelBase< JointModelDense< _NQ, _NV > >.
SizeDepType<NV>::template SegmentReturn<D>::ConstType se3::JointModelDense< _NQ, _NV >::jointVelocitySelector_impl | ( | const Eigen::MatrixBase< D > & | a | ) | const [inline] |
Reimplemented from se3::JointModelBase< JointModelDense< _NQ, _NV > >.
References se3::JointModelBase< JointModelDense< _NQ, _NV > >::i_v, and se3::JointModelDense< _NQ, _NV >::nv_dyn.
SizeDepType<NV>::template SegmentReturn<D>::Type se3::JointModelDense< _NQ, _NV >::jointVelocitySelector_impl | ( | Eigen::MatrixBase< D > & | a | ) | const [inline] |
Reimplemented from se3::JointModelBase< JointModelDense< _NQ, _NV > >.
References se3::JointModelBase< JointModelDense< _NQ, _NV > >::i_v, and se3::JointModelDense< _NQ, _NV >::nv_dyn.
SizeDepType< Eigen::Dynamic >::template SegmentReturn< D >::ConstType se3::JointModelDense< Eigen::Dynamic, Eigen::Dynamic >::jointVelocitySelector_impl | ( | const Eigen::MatrixBase< D > & | a | ) | const |
Reimplemented from se3::JointModelBase< JointModelDense< _NQ, _NV > >.
SizeDepType< Eigen::Dynamic >::template SegmentReturn< D >::Type se3::JointModelDense< Eigen::Dynamic, Eigen::Dynamic >::jointVelocitySelector_impl | ( | Eigen::MatrixBase< D > & | a | ) | const |
Reimplemented from se3::JointModelBase< JointModelDense< _NQ, _NV > >.
int se3::JointModelDense< _NQ, _NV >::nq_impl | ( | ) | const [inline] |
Reimplemented from se3::JointModelBase< JointModelDense< _NQ, _NV > >.
References se3::JointModelDense< _NQ, _NV >::nq_dyn.
int se3::JointModelDense< _NQ, _NV >::nv_impl | ( | ) | const [inline] |
Reimplemented from se3::JointModelBase< JointModelDense< _NQ, _NV > >.
References se3::JointModelDense< _NQ, _NV >::nv_dyn.
bool se3::JointModelDense< _NQ, _NV >::operator== | ( | const JointModelBase< D > & | ) | const [inline] |
bool se3::JointModelDense< _NQ, _NV >::operator== | ( | const JointModelBase< JointModelDense< _NQ, _NV > > & | jmodel | ) | const [inline] |
References se3::JointModelBase< _JointModel >::id(), se3::JointModelBase< JointModelDense< _NQ, _NV > >::id(), se3::JointModelBase< JointModelDense< _NQ, _NV > >::idx_q(), se3::JointModelBase< _JointModel >::idx_q(), se3::JointModelBase< JointModelDense< _NQ, _NV > >::idx_v(), and se3::JointModelBase< _JointModel >::idx_v().
ConfigVector_t se3::JointModelDense< _NQ, _NV >::random_impl | ( | ) | const [inline] |
ConfigVector_t se3::JointModelDense< _NQ, _NV >::randomConfiguration_impl | ( | const ConfigVector_t & | , |
const ConfigVector_t & | |||
) | const [inline] |
static const std::string se3::JointModelDense< _NQ, _NV >::shortname | ( | ) | [inline, static] |
JointModelDense<_NQ, _NV> se3::JointModelDense< _NQ, _NV >::toDense_impl | ( | ) | const [inline] |
int se3::JointModelDense< _NQ, _NV >::nq_dyn |
int se3::JointModelDense< _NQ, _NV >::nv_dyn |
se3::JointModelDense< _NQ, _NV >::SE3_JOINT_TYPEDEF_TEMPLATE |
Reimplemented from se3::JointModelBase< JointModelDense< _NQ, _NV > >.