se3::JointModelAccessor Struct Reference

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

Inheritance diagram for se3::JointModelAccessor:
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Collaboration diagram for se3::JointModelAccessor:
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List of all members.

Public Types

typedef JointAccessor Joint

Public Member Functions

JointDataVariant createData ()
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 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
 JointModelAccessor (const JointModelVariant &model_variant)
int nq_impl () const
int nv_impl () const
int idx_q () const
int idx_v () const
JointIndex id () const
void setIndexes (JointIndex, int, int)

Public Attributes

 SE3_JOINT_TYPEDEF
 SE3_JOINT_USE_INDEXES
const JointModelVariantj_model_variant

Member Typedef Documentation


Constructor & Destructor Documentation

se3::JointModelAccessor::JointModelAccessor ( const JointModelVariant model_variant) [inline]

Member Function Documentation

void se3::JointModelAccessor::calc ( JointData &  data,
const Eigen::VectorXd &  qs 
) const [inline]
void se3::JointModelAccessor::calc ( JointData &  data,
const Eigen::VectorXd &  qs,
const Eigen::VectorXd &  vs 
) const [inline]
void se3::JointModelAccessor::calc_aba ( JointData &  data,
Inertia::Matrix6 &  I,
const bool  update_I 
) const [inline]
JointDataVariant se3::JointModelAccessor::createData ( ) [inline]

References j_model_variant.

TangentVector_t se3::JointModelAccessor::difference_impl ( const Eigen::VectorXd &  q0,
const Eigen::VectorXd &  q1 
) const [inline]
double se3::JointModelAccessor::distance_impl ( const Eigen::VectorXd &  q0,
const Eigen::VectorXd &  q1 
) const [inline]
JointIndex se3::JointModelAccessor::id ( ) const [inline]
int se3::JointModelAccessor::idx_q ( ) const [inline]
int se3::JointModelAccessor::idx_v ( ) const [inline]
ConfigVector_t se3::JointModelAccessor::integrate_impl ( const Eigen::VectorXd &  qs,
const Eigen::VectorXd &  vs 
) const [inline]
ConfigVector_t se3::JointModelAccessor::interpolate_impl ( const Eigen::VectorXd &  q0,
const Eigen::VectorXd &  q1,
const double  u 
) const [inline]
int se3::JointModelAccessor::nq_impl ( ) const [inline]
int se3::JointModelAccessor::nv_impl ( ) const [inline]
ConfigVector_t se3::JointModelAccessor::randomConfiguration_impl ( const ConfigVector_t &  lower_pos_limit,
const ConfigVector_t &  upper_pos_limit 
) const throw (std::runtime_error) [inline]
void se3::JointModelAccessor::setIndexes ( JointIndex  ,
int  ,
int   
) [inline]

Member Data Documentation