#include <multibody/joint/joint-accessor.hpp>
Public Types | |
typedef JointAccessor | Joint |
Public Member Functions | |
const Constraint_t | S () const |
const Transformation_t | M () const |
const Motion_t | v () const |
const Bias_t | c () const |
const U_t | U () const |
U_t | U () |
const D_t | Dinv () const |
const UD_t | UDinv () const |
JointDataAccessor (JointDataVariant &jdata) | |
Public Attributes | |
SE3_JOINT_TYPEDEF | |
JointDataVariant & | j_data_variant |
typedef JointAccessor se3::JointDataAccessor::Joint |
Reimplemented from se3::JointDataBase< JointDataAccessor >.
se3::JointDataAccessor::JointDataAccessor | ( | JointDataVariant & | jdata | ) | [inline] |
const Bias_t se3::JointDataAccessor::c | ( | ) | const [inline] |
Reimplemented from se3::JointDataBase< JointDataAccessor >.
References se3::bias(), and j_data_variant.
const D_t se3::JointDataAccessor::Dinv | ( | ) | const [inline] |
Reimplemented from se3::JointDataBase< JointDataAccessor >.
References se3::dinv_inertia(), and j_data_variant.
const Transformation_t se3::JointDataAccessor::M | ( | ) | const [inline] |
Reimplemented from se3::JointDataBase< JointDataAccessor >.
References j_data_variant, and se3::joint_transform().
const Constraint_t se3::JointDataAccessor::S | ( | ) | const [inline] |
Reimplemented from se3::JointDataBase< JointDataAccessor >.
References se3::constraint_xd(), and j_data_variant.
const U_t se3::JointDataAccessor::U | ( | ) | const [inline] |
Reimplemented from se3::JointDataBase< JointDataAccessor >.
References j_data_variant, and se3::u_inertia().
U_t se3::JointDataAccessor::U | ( | ) | [inline] |
Reimplemented from se3::JointDataBase< JointDataAccessor >.
References j_data_variant, and se3::u_inertia().
const UD_t se3::JointDataAccessor::UDinv | ( | ) | const [inline] |
Reimplemented from se3::JointDataBase< JointDataAccessor >.
References j_data_variant, and se3::udinv_inertia().
const Motion_t se3::JointDataAccessor::v | ( | ) | const [inline] |
Reimplemented from se3::JointDataBase< JointDataAccessor >.
References j_data_variant, and se3::motion().