se3::JointDataBase< _JointData > Struct Template Reference

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

List of all members.

Public Types

typedef _JointData Derived
typedef JointDataBase< _JointData > Base
typedef traits< _JointData >::Joint Joint

Public Member Functions

JointData & derived ()
const JointData & derived () const
const Constraint_t & S () const
const Transformation_t & M () const
const Motion_t & v () const
const Bias_t & c () const
F_t & F ()
const U_t & U () const
U_t & U ()
const D_t & Dinv () const
const UD_t & UDinv () const
JointDataDense< NQ, NV > toDense () const

Public Attributes

 SE3_JOINT_TYPEDEF_TEMPLATE

template<typename _JointData>
struct se3::JointDataBase< _JointData >


Member Typedef Documentation

template<typename _JointData>
typedef JointDataBase<_JointData> se3::JointDataBase< _JointData >::Base
template<typename _JointData>
typedef _JointData se3::JointDataBase< _JointData >::Derived

Member Function Documentation

template<typename _JointData>
const JointData& se3::JointDataBase< _JointData >::derived ( ) const [inline]
template<typename _JointData>
const D_t& se3::JointDataBase< _JointData >::Dinv ( ) const [inline]
template<typename _JointData>
F_t& se3::JointDataBase< _JointData >::F ( ) [inline]
template<typename _JointData>
JointDataDense<NQ, NV> se3::JointDataBase< _JointData >::toDense ( ) const [inline]
template<typename _JointData>
const U_t& se3::JointDataBase< _JointData >::U ( ) const [inline]
template<typename _JointData>
U_t& se3::JointDataBase< _JointData >::U ( ) [inline]

Reimplemented in se3::JointDataAccessor.

template<typename _JointData>
const UD_t& se3::JointDataBase< _JointData >::UDinv ( ) const [inline]

Member Data Documentation