se3::JointDataSpherical Struct Reference

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

Inheritance diagram for se3::JointDataSpherical:
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Collaboration diagram for se3::JointDataSpherical:
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List of all members.

Public Types

typedef JointSpherical Joint
typedef Eigen::Matrix< double, 6, 6 > Matrix6
typedef Eigen::Matrix< double, 3, 1 > Vector3
typedef Eigen::Quaternion< double > Quaternion

Public Member Functions

 JointDataSpherical ()
JointDataDense< NQ, NV > toDense_impl () const

Public Attributes

 SE3_JOINT_TYPEDEF
Constraint_t S
Transformation_t M
Motion_t v
Bias_t c
F_t F
U_t U
D_t Dinv
UD_t UDinv

Member Typedef Documentation

typedef Eigen::Matrix<double,6,6> se3::JointDataSpherical::Matrix6
typedef Eigen::Quaternion<double> se3::JointDataSpherical::Quaternion
typedef Eigen::Matrix<double,3,1> se3::JointDataSpherical::Vector3

Constructor & Destructor Documentation

se3::JointDataSpherical::JointDataSpherical ( ) [inline]

Member Function Documentation


Member Data Documentation

Transformation_t se3::JointDataSpherical::M