se3::JointModelRevolute< axis > Struct Template Reference

#include <multibody/joint/joint-revolute.hpp>

Inheritance diagram for se3::JointModelRevolute< axis >:
[legend]
Collaboration diagram for se3::JointModelRevolute< axis >:
[legend]

List of all members.

Public Types

typedef JointRevolute< axis > Joint
typedef Motion::Vector3 Vector3
typedef double Scalar_t

Public Member Functions

JointData createData () const
void calc (JointData &data, const Eigen::VectorXd &qs) const
void calc (JointData &data, const Eigen::VectorXd &qs, const Eigen::VectorXd &vs) const
void calc_aba (JointData &data, Inertia::Matrix6 &I, const bool update_I) const
ConfigVector_t integrate_impl (const Eigen::VectorXd &qs, const Eigen::VectorXd &vs) const
ConfigVector_t interpolate_impl (const Eigen::VectorXd &q0, const Eigen::VectorXd &q1, const double u) const
ConfigVector_t random_impl () const
ConfigVector_t randomConfiguration_impl (const ConfigVector_t &lower_pos_limit, const ConfigVector_t &upper_pos_limit) const throw (std::runtime_error)
TangentVector_t difference_impl (const Eigen::VectorXd &q0, const Eigen::VectorXd &q1) const
double distance_impl (const Eigen::VectorXd &q0, const Eigen::VectorXd &q1) const
JointModelDense< NQ, NV > toDense_impl () const
template<class D >
bool operator== (const JointModelBase< D > &) const
bool operator== (const JointModelBase< JointModelRevolute< axis > > &jmodel) const
template<>
const std::string shortname ()
template<>
const std::string shortname ()
template<>
const std::string shortname ()

Static Public Member Functions

static const std::string shortname ()

Public Attributes

 SE3_JOINT_TYPEDEF_TEMPLATE

template<int axis>
struct se3::JointModelRevolute< axis >


Member Typedef Documentation

template<int axis>
typedef JointRevolute<axis> se3::JointModelRevolute< axis >::Joint
template<int axis>
typedef double se3::JointModelRevolute< axis >::Scalar_t
template<int axis>
typedef Motion::Vector3 se3::JointModelRevolute< axis >::Vector3

Member Function Documentation

template<int axis>
void se3::JointModelRevolute< axis >::calc ( JointData &  data,
const Eigen::VectorXd &  qs 
) const [inline]
template<int axis>
void se3::JointModelRevolute< axis >::calc ( JointData &  data,
const Eigen::VectorXd &  qs,
const Eigen::VectorXd &  vs 
) const [inline]
template<int axis>
void se3::JointModelRevolute< axis >::calc_aba ( JointData &  data,
Inertia::Matrix6 &  I,
const bool  update_I 
) const [inline]
template<int axis>
JointData se3::JointModelRevolute< axis >::createData ( ) const [inline]
template<int axis>
TangentVector_t se3::JointModelRevolute< axis >::difference_impl ( const Eigen::VectorXd &  q0,
const Eigen::VectorXd &  q1 
) const [inline]
template<int axis>
double se3::JointModelRevolute< axis >::distance_impl ( const Eigen::VectorXd &  q0,
const Eigen::VectorXd &  q1 
) const [inline]
template<int axis>
ConfigVector_t se3::JointModelRevolute< axis >::integrate_impl ( const Eigen::VectorXd &  qs,
const Eigen::VectorXd &  vs 
) const [inline]
template<int axis>
ConfigVector_t se3::JointModelRevolute< axis >::interpolate_impl ( const Eigen::VectorXd &  q0,
const Eigen::VectorXd &  q1,
const double  u 
) const [inline]
template<int axis>
template<class D >
bool se3::JointModelRevolute< axis >::operator== ( const JointModelBase< D > &  ) const [inline]
template<int axis>
ConfigVector_t se3::JointModelRevolute< axis >::random_impl ( ) const [inline]
template<int axis>
ConfigVector_t se3::JointModelRevolute< axis >::randomConfiguration_impl ( const ConfigVector_t &  lower_pos_limit,
const ConfigVector_t &  upper_pos_limit 
) const throw (std::runtime_error) [inline]
template<int axis>
static const std::string se3::JointModelRevolute< axis >::shortname ( ) [static]
template<>
const std::string se3::JointModelRevolute< 0 >::shortname ( ) [inline]
template<>
const std::string se3::JointModelRevolute< 1 >::shortname ( ) [inline]
template<>
const std::string se3::JointModelRevolute< 2 >::shortname ( ) [inline]

Member Data Documentation