#include <algorithm/kinematics.hxx>
Public Types | |
typedef boost::fusion::vector < const se3::Model &, se3::Data &, const Eigen::VectorXd &, const Eigen::VectorXd &, const Eigen::VectorXd & > | ArgsType |
Public Member Functions | |
JOINT_VISITOR_INIT (ForwardKinematicSecondStep) | |
Static Public Member Functions | |
template<typename JointModel > | |
static void | algo (const se3::JointModelBase< JointModel > &jmodel, se3::JointDataBase< typename JointModel::JointData > &jdata, const se3::Model &model, se3::Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &a) |
typedef boost::fusion::vector<const se3::Model &, se3::Data &, const Eigen::VectorXd &, const Eigen::VectorXd &, const Eigen::VectorXd & > se3::ForwardKinematicSecondStep::ArgsType |
static void se3::ForwardKinematicSecondStep::algo | ( | const se3::JointModelBase< JointModel > & | jmodel, |
se3::JointDataBase< typename JointModel::JointData > & | jdata, | ||
const se3::Model & | model, | ||
se3::Data & | data, | ||
const Eigen::VectorXd & | q, | ||
const Eigen::VectorXd & | v, | ||
const Eigen::VectorXd & | a | ||
) | [inline, static] |
References se3::Data::a, se3::JointDataBase< _JointData >::c(), se3::JointModelBase< _JointModel >::calc(), se3::JointDataBase< _JointData >::derived(), se3::JointModelBase< _JointModel >::id(), se3::Model::jointPlacements, se3::JointModelBase< _JointModel >::jointVelocitySelector(), se3::Data::liMi, se3::JointDataBase< _JointData >::M(), se3::Data::oMi, se3::Model::parents, se3::JointDataBase< _JointData >::S(), se3::JointDataBase< _JointData >::v(), and se3::Data::v.
se3::ForwardKinematicSecondStep::JOINT_VISITOR_INIT | ( | ForwardKinematicSecondStep | ) |