joint-basic-visitors.hpp File Reference
#include <Eigen/StdVector>
#include <boost/variant.hpp>
#include "pinocchio/multibody/joint/joint-variant.hpp"
#include "pinocchio/multibody/joint/joint-basic-visitors.hxx"
Include dependency graph for joint-basic-visitors.hpp:

Namespaces

namespace  se3

Functions

JointDataVariant se3::createData (const JointModelVariant &jmodel)
 Visit a JointModelVariant through CreateData visitor to create a JointDataVariant.
void se3::calc_zero_order (const JointModelVariant &jmodel, JointDataVariant &jdata, const Eigen::VectorXd &q)
 Visit a JointDataVariant and the corresponding JointModelVariant through JointCalcZeroOrderVisitor to compute the joint data kinematics at order zero.
void se3::calc_first_order (const JointModelVariant &jmodel, JointDataVariant &jdata, const Eigen::VectorXd &q, const Eigen::VectorXd &v)
 Visit a JointDataVariant and the corresponding JointModelVariant through JointCalcFirstOrderVisitor to compute the joint data kinematics at order one.
void se3::calc_aba (const JointModelVariant &jmodel, JointDataVariant &jdata, Inertia::Matrix6 &I, const bool update_I)
 Visit a JointDataVariant and the corresponding JointModelVariant through JointCalcAbaVisitor to.
Eigen::VectorXd se3::integrate (const JointModelVariant &jmodel, const Eigen::VectorXd &q, const Eigen::VectorXd &v)
 Visit a JointModelVariant through JointIntegrateVisitor to integrate joint's configuration for a tangent vector during one unit time.
Eigen::VectorXd se3::interpolate (const JointModelVariant &jmodel, const Eigen::VectorXd &q0, const Eigen::VectorXd &q1, const double u)
 Visit a JointModelVariant through JointInterpolateVisitor to compute the interpolation between two joint's configurations.
Eigen::VectorXd se3::randomConfiguration (const JointModelVariant &jmodel, const Eigen::VectorXd &lower_pos_limit, const Eigen::VectorXd &upper_pos_limit)
 Visit a JointModelVariant through JointRandomConfigurationVisitor to generate a configuration vector uniformly sampled among provided limits.
Eigen::VectorXd se3::difference (const JointModelVariant &jmodel, const Eigen::VectorXd &q0, const Eigen::VectorXd &q1)
 Visit a JointModelVariant through JointDifferenceVisitor to compute the tangent vector that must be integrated during one unit time to go from q0 to q1.
double se3::distance (const JointModelVariant &jmodel, const Eigen::VectorXd &q0, const Eigen::VectorXd &q1)
 Visit a JointModelVariant through JointDifferenceVisitor to compute the distance between two configurations.
int se3::nv (const JointModelVariant &jmodel)
 Visit a JointModelVariant through JointNvVisitor to get the dimension of the joint tangent space.
int se3::nq (const JointModelVariant &jmodel)
 Visit a JointModelVariant through JointNqVisitor to get the dimension of the joint configuration space.
int se3::idx_q (const JointModelVariant &jmodel)
 Visit a JointModelVariant through JointIdxQVisitor to get the index in the full model configuration space corresponding to the first degree of freedom of the Joint.
int se3::idx_v (const JointModelVariant &jmodel)
 Visit a JointModelVariant through JointIdxVVisitor to get the index in the full model tangent space corresponding to the first joint tangent space degree.
JointIndex se3::id (const JointModelVariant &jmodel)
 Visit a JointModelVariant through JointIdVisitor to get the index of the joint in the kinematic chain.
void se3::setIndexes (JointModelVariant &jmodel, JointIndex id, int q, int v)
 Visit a JointModelVariant through JointSetIndexesVisitor to set the indexes of the joint in the kinematic chain.
ConstraintXd se3::constraint_xd (const JointDataVariant &jdata)
 Visit a JointDataVariant through JointConstraintVisitor to get the joint constraint as a dense constraint.
SE3 se3::joint_transform (const JointDataVariant &jdata)
 Visit a JointDataVariant through JointTransformVisitor to get the joint internal transform (transform between the entry frame and the exit frame of the joint)
Motion se3::motion (const JointDataVariant &jdata)
 Visit a JointDataVariant through JointMotionVisitor to get the joint internal motion as a dense motion.
Motion se3::bias (const JointDataVariant &jdata)
 Visit a JointDataVariant through JointBiasVisitor to get the joint bias as a dense motion.
Eigen::Matrix< double,
6, Eigen::Dynamic > 
se3::u_inertia (const JointDataVariant &jdata)
 Visit a JointDataVariant through JointUInertiaVisitor to get the U matrix of the inertia matrix decomposition.
Eigen::Matrix< double,
Eigen::Dynamic, Eigen::Dynamic > 
se3::dinv_inertia (const JointDataVariant &jdata)
 Visit a JointDataVariant through JointDInvInertiaVisitor to get the D^{-1} matrix of the inertia matrix decomposition.
Eigen::Matrix< double,
6, Eigen::Dynamic > 
se3::udinv_inertia (const JointDataVariant &jdata)
 Visit a JointDataVariant through JointUDInvInertiaVisitor to get U*D^{-1} matrix of the inertia matrix decomposition.