se3::JointModelSpherical Struct Reference

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

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

Public Types

typedef JointSpherical 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 &, const ConfigVector_t &) const
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< JointModelSpherical > &jmodel) const

Static Public Member Functions

static const std::string shortname ()

Public Attributes

 SE3_JOINT_TYPEDEF

Member Typedef Documentation


Member Function Documentation

void se3::JointModelSpherical::calc ( JointData &  data,
const Eigen::VectorXd &  qs 
) const [inline]
void se3::JointModelSpherical::calc ( JointData &  data,
const Eigen::VectorXd &  qs,
const Eigen::VectorXd &  vs 
) const [inline]
void se3::JointModelSpherical::calc_aba ( JointData &  data,
Inertia::Matrix6 &  I,
const bool  update_I 
) const [inline]
JointData se3::JointModelSpherical::createData ( ) const [inline]
TangentVector_t se3::JointModelSpherical::difference_impl ( const Eigen::VectorXd &  q0,
const Eigen::VectorXd &  q1 
) const [inline]
double se3::JointModelSpherical::distance_impl ( const Eigen::VectorXd &  q0,
const Eigen::VectorXd &  q1 
) const [inline]

References difference_impl().

ConfigVector_t se3::JointModelSpherical::integrate_impl ( const Eigen::VectorXd &  qs,
const Eigen::VectorXd &  vs 
) const [inline]
ConfigVector_t se3::JointModelSpherical::interpolate_impl ( const Eigen::VectorXd &  q0,
const Eigen::VectorXd &  q1,
const double  u 
) const [inline]
template<class D >
bool se3::JointModelSpherical::operator== ( const JointModelBase< D > &  ) const [inline]
ConfigVector_t se3::JointModelSpherical::random_impl ( ) const [inline]
ConfigVector_t se3::JointModelSpherical::randomConfiguration_impl ( const ConfigVector_t &  ,
const ConfigVector_t &   
) const [inline]

References se3::PI, and SINCOS.

static const std::string se3::JointModelSpherical::shortname ( ) [inline, static]

Member Data Documentation