se3::ConstraintTpl< _Dim, _Scalar, _Options > Class Template Reference

#include <multibody/constraint.hpp>

Inheritance diagram for se3::ConstraintTpl< _Dim, _Scalar, _Options >:
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Collaboration diagram for se3::ConstraintTpl< _Dim, _Scalar, _Options >:
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List of all members.

Classes

struct  Transpose

Public Types

enum  {
  NV = _Dim,
  Options = _Options
}
typedef ConstraintBase
< ConstraintTpl< _Dim, _Scalar,
_Options > > 
Base
typedef Base::JointMotion JointMotion
typedef Base::JointForce JointForce
typedef Base::DenseBase DenseBase

Public Member Functions

 SPATIAL_TYPEDEF_TEMPLATE (ConstraintTpl)
template<typename D >
 ConstraintTpl (const Eigen::MatrixBase< D > &_S)
 ConstraintTpl ()
 ConstraintTpl (const int dim)
Motion __mult__ (const JointMotion &vj) const
Transpose transpose () const
DenseBasematrix_impl ()
const DenseBasematrix_impl () const
int nv_impl () const
DenseBase se3Action (const SE3 &m) const
void disp_impl (std::ostream &os) const

Protected Attributes

DenseBase S

Friends

class ConstraintBase< ConstraintTpl< _Dim, _Scalar, _Options > >
Eigen::Matrix< _Scalar, 6, _Dim > operator* (const InertiaTpl< _Scalar, _Options > &Y, const ConstraintTpl< _Dim, _Scalar, _Options > &S)

template<int _Dim, typename _Scalar, int _Options>
class se3::ConstraintTpl< _Dim, _Scalar, _Options >


Member Typedef Documentation

template<int _Dim, typename _Scalar, int _Options>
typedef ConstraintBase< ConstraintTpl< _Dim, _Scalar, _Options > > se3::ConstraintTpl< _Dim, _Scalar, _Options >::Base
template<int _Dim, typename _Scalar, int _Options>
typedef Base::DenseBase se3::ConstraintTpl< _Dim, _Scalar, _Options >::DenseBase
template<int _Dim, typename _Scalar, int _Options>
typedef Base::JointForce se3::ConstraintTpl< _Dim, _Scalar, _Options >::JointForce
template<int _Dim, typename _Scalar, int _Options>
typedef Base::JointMotion se3::ConstraintTpl< _Dim, _Scalar, _Options >::JointMotion

Member Enumeration Documentation

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

Constructor & Destructor Documentation

template<int _Dim, typename _Scalar, int _Options>
template<typename D >
se3::ConstraintTpl< _Dim, _Scalar, _Options >::ConstraintTpl ( const Eigen::MatrixBase< D > &  _S) [inline]
template<int _Dim, typename _Scalar, int _Options>
se3::ConstraintTpl< _Dim, _Scalar, _Options >::ConstraintTpl ( ) [inline]
template<int _Dim, typename _Scalar, int _Options>
se3::ConstraintTpl< _Dim, _Scalar, _Options >::ConstraintTpl ( const int  dim) [inline]

Member Function Documentation

template<int _Dim, typename _Scalar, int _Options>
Motion se3::ConstraintTpl< _Dim, _Scalar, _Options >::__mult__ ( const JointMotion vj) const [inline]
template<int _Dim, typename _Scalar, int _Options>
void se3::ConstraintTpl< _Dim, _Scalar, _Options >::disp_impl ( std::ostream &  os) const [inline]
template<int _Dim, typename _Scalar, int _Options>
DenseBase& se3::ConstraintTpl< _Dim, _Scalar, _Options >::matrix_impl ( ) [inline]
template<int _Dim, typename _Scalar, int _Options>
const DenseBase& se3::ConstraintTpl< _Dim, _Scalar, _Options >::matrix_impl ( ) const [inline]
template<int _Dim, typename _Scalar, int _Options>
int se3::ConstraintTpl< _Dim, _Scalar, _Options >::nv_impl ( ) const [inline]
template<int _Dim, typename _Scalar, int _Options>
DenseBase se3::ConstraintTpl< _Dim, _Scalar, _Options >::se3Action ( const SE3 m) const [inline]
template<int _Dim, typename _Scalar, int _Options>
se3::ConstraintTpl< _Dim, _Scalar, _Options >::SPATIAL_TYPEDEF_TEMPLATE ( ConstraintTpl< _Dim, _Scalar, _Options >  )
template<int _Dim, typename _Scalar, int _Options>
Transpose se3::ConstraintTpl< _Dim, _Scalar, _Options >::transpose ( ) const [inline]

Friends And Related Function Documentation

template<int _Dim, typename _Scalar, int _Options>
friend class ConstraintBase< ConstraintTpl< _Dim, _Scalar, _Options > > [friend]
template<int _Dim, typename _Scalar, int _Options>
Eigen::Matrix<_Scalar,6,_Dim> operator* ( const InertiaTpl< _Scalar, _Options > &  Y,
const ConstraintTpl< _Dim, _Scalar, _Options > &  S 
) [friend]

Member Data Documentation