#include <multibody/joint/joint-spherical-ZYX.hpp>
List of all members.
Public Types |
typedef JointSphericalZYX | 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< JointModelSphericalZYX > &jmodel) const |
Static Public Member Functions |
static const std::string | shortname () |
Public Attributes |
| SE3_JOINT_TYPEDEF |
Member Typedef Documentation
Member Function Documentation
void se3::JointModelSphericalZYX::calc |
( |
JointData & |
data, |
|
|
const Eigen::VectorXd & |
qs |
|
) |
| const [inline] |
void se3::JointModelSphericalZYX::calc |
( |
JointData & |
data, |
|
|
const Eigen::VectorXd & |
qs, |
|
|
const Eigen::VectorXd & |
vs |
|
) |
| const [inline] |
void se3::JointModelSphericalZYX::calc_aba |
( |
JointData & |
data, |
|
|
Inertia::Matrix6 & |
I, |
|
|
const bool |
update_I |
|
) |
| const [inline] |
JointData se3::JointModelSphericalZYX::createData |
( |
| ) |
const [inline] |
TangentVector_t se3::JointModelSphericalZYX::difference_impl |
( |
const Eigen::VectorXd & |
q0, |
|
|
const Eigen::VectorXd & |
q1 |
|
) |
| const [inline] |
double se3::JointModelSphericalZYX::distance_impl |
( |
const Eigen::VectorXd & |
q0, |
|
|
const Eigen::VectorXd & |
q1 |
|
) |
| const [inline] |
ConfigVector_t se3::JointModelSphericalZYX::integrate_impl |
( |
const Eigen::VectorXd & |
qs, |
|
|
const Eigen::VectorXd & |
vs |
|
) |
| const [inline] |
ConfigVector_t se3::JointModelSphericalZYX::interpolate_impl |
( |
const Eigen::VectorXd & |
q0, |
|
|
const Eigen::VectorXd & |
q1, |
|
|
const double |
u |
|
) |
| const [inline] |
template<class D >
bool se3::JointModelSphericalZYX::operator== |
( |
const JointModelBase< D > & |
| ) |
const [inline] |
ConfigVector_t se3::JointModelSphericalZYX::random_impl |
( |
| ) |
const [inline] |
ConfigVector_t se3::JointModelSphericalZYX::randomConfiguration_impl |
( |
const ConfigVector_t & |
lower_pos_limit, |
|
|
const ConfigVector_t & |
upper_pos_limit |
|
) |
| const throw (std::runtime_error) [inline] |
static const std::string se3::JointModelSphericalZYX::shortname |
( |
| ) |
[inline, static] |
JointModelDense<NQ, NV> se3::JointModelSphericalZYX::toDense_impl |
( |
| ) |
const [inline] |
Member Data Documentation