#include <multibody/joint/joint-accessor.hpp>
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 JointModelVariant & | j_model_variant |
typedef JointAccessor se3::JointModelAccessor::Joint |
Reimplemented from se3::JointModelBase< JointModelAccessor >.
se3::JointModelAccessor::JointModelAccessor | ( | const JointModelVariant & | model_variant | ) | [inline] |
void se3::JointModelAccessor::calc | ( | JointData & | data, |
const Eigen::VectorXd & | qs | ||
) | const [inline] |
Reimplemented from se3::JointModelBase< JointModelAccessor >.
References se3::calc_zero_order(), and j_model_variant.
void se3::JointModelAccessor::calc | ( | JointData & | data, |
const Eigen::VectorXd & | qs, | ||
const Eigen::VectorXd & | vs | ||
) | const [inline] |
Reimplemented from se3::JointModelBase< JointModelAccessor >.
References se3::calc_first_order(), and j_model_variant.
void se3::JointModelAccessor::calc_aba | ( | JointData & | data, |
Inertia::Matrix6 & | I, | ||
const bool | update_I | ||
) | const [inline] |
Reimplemented from se3::JointModelBase< JointModelAccessor >.
References j_model_variant.
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] |
References se3::JointModelBase< JointModelAccessor >::difference(), and j_model_variant.
double se3::JointModelAccessor::distance_impl | ( | const Eigen::VectorXd & | q0, |
const Eigen::VectorXd & | q1 | ||
) | const [inline] |
References se3::JointModelBase< JointModelAccessor >::distance(), and j_model_variant.
JointIndex se3::JointModelAccessor::id | ( | ) | const [inline] |
Reimplemented from se3::JointModelBase< JointModelAccessor >.
References j_model_variant.
int se3::JointModelAccessor::idx_q | ( | ) | const [inline] |
Reimplemented from se3::JointModelBase< JointModelAccessor >.
References j_model_variant.
int se3::JointModelAccessor::idx_v | ( | ) | const [inline] |
Reimplemented from se3::JointModelBase< JointModelAccessor >.
References j_model_variant.
ConfigVector_t se3::JointModelAccessor::integrate_impl | ( | const Eigen::VectorXd & | qs, |
const Eigen::VectorXd & | vs | ||
) | const [inline] |
References se3::JointModelBase< JointModelAccessor >::integrate(), and j_model_variant.
ConfigVector_t se3::JointModelAccessor::interpolate_impl | ( | const Eigen::VectorXd & | q0, |
const Eigen::VectorXd & | q1, | ||
const double | u | ||
) | const [inline] |
References se3::JointModelBase< JointModelAccessor >::interpolate(), and j_model_variant.
int se3::JointModelAccessor::nq_impl | ( | ) | const [inline] |
Reimplemented from se3::JointModelBase< JointModelAccessor >.
References j_model_variant, and se3::JointModelBase< JointModelAccessor >::nq().
int se3::JointModelAccessor::nv_impl | ( | ) | const [inline] |
Reimplemented from se3::JointModelBase< JointModelAccessor >.
References j_model_variant, and se3::JointModelBase< JointModelAccessor >::nv().
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] |
Reimplemented from se3::JointModelBase< JointModelAccessor >.
References SE3_STATIC_ASSERT.
Referenced by calc(), calc_aba(), createData(), difference_impl(), distance_impl(), id(), idx_q(), idx_v(), integrate_impl(), interpolate_impl(), nq_impl(), nv_impl(), and randomConfiguration_impl().