se3::JointModelDense< _NQ, _NV > Struct Template Reference

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

Inheritance diagram for se3::JointModelDense< _NQ, _NV >:
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Collaboration diagram for se3::JointModelDense< _NQ, _NV >:
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List of all members.

Public Types

typedef JointDense< _NQ, _NV > Joint
typedef JointModelBase
< JointModelDense< _NQ, _NV > > 
Base

Public Member Functions

JointData createData () const
void calc (JointData &, const Eigen::VectorXd &) const
void calc (JointData &, const Eigen::VectorXd &, const Eigen::VectorXd &) const
void calc_aba (JointData &, Inertia::Matrix6 &, const bool) const
ConfigVector_t integrate_impl (const Eigen::VectorXd &, const Eigen::VectorXd &) const
ConfigVector_t interpolate_impl (const Eigen::VectorXd &, const Eigen::VectorXd &, double) const
ConfigVector_t random_impl () const
ConfigVector_t randomConfiguration_impl (const ConfigVector_t &, const ConfigVector_t &) const
TangentVector_t difference_impl (const Eigen::VectorXd &, const Eigen::VectorXd &) const
double distance_impl (const Eigen::VectorXd &, const Eigen::VectorXd &) const
 JointModelDense ()
 JointModelDense (JointIndex idx, int idx_q, int idx_v)
int nv_impl () const
int nq_impl () const
template<typename D >
SizeDepType< NQ >::template
SegmentReturn< D >::ConstType 
jointConfigSelector_impl (const Eigen::MatrixBase< D > &a) const
template<typename D >
SizeDepType< NQ >::template
SegmentReturn< D >::Type 
jointConfigSelector_impl (Eigen::MatrixBase< D > &a) const
template<typename D >
SizeDepType< NV >::template
SegmentReturn< D >::ConstType 
jointVelocitySelector_impl (const Eigen::MatrixBase< D > &a) const
template<typename D >
SizeDepType< NV >::template
SegmentReturn< D >::Type 
jointVelocitySelector_impl (Eigen::MatrixBase< D > &a) const
template<typename D >
SizeDepType< NV >::template
ColsReturn< D >::ConstType 
jointCols_impl (const Eigen::MatrixBase< D > &A) const
template<typename D >
SizeDepType< NV >::template
ColsReturn< D >::Type 
jointCols_impl (Eigen::MatrixBase< D > &A) const
JointModelDense< _NQ, _NV > toDense_impl () const
template<class D >
bool operator== (const JointModelBase< D > &) const
bool operator== (const JointModelBase< JointModelDense > &jmodel) const
template<>
SizeDepType< Eigen::Dynamic >
::template SegmentReturn< D >
::ConstType 
jointConfigSelector_impl (const Eigen::MatrixBase< D > &a) const
template<>
SizeDepType< Eigen::Dynamic >
::template SegmentReturn< D >
::Type 
jointConfigSelector_impl (Eigen::MatrixBase< D > &a) const
template<>
SizeDepType< Eigen::Dynamic >
::template SegmentReturn< D >
::ConstType 
jointVelocitySelector_impl (const Eigen::MatrixBase< D > &a) const
template<>
SizeDepType< Eigen::Dynamic >
::template SegmentReturn< D >
::Type 
jointVelocitySelector_impl (Eigen::MatrixBase< D > &a) const
template<>
SizeDepType< Eigen::Dynamic >
::template ColsReturn< D >
::ConstType 
jointCols_impl (const Eigen::MatrixBase< D > &A) const
template<>
SizeDepType< Eigen::Dynamic >
::template ColsReturn< D >
::Type 
jointCols_impl (Eigen::MatrixBase< D > &A) const

Static Public Member Functions

static const std::string shortname ()

Public Attributes

 SE3_JOINT_TYPEDEF_TEMPLATE
int nv_dyn
int nq_dyn

template<int _NQ, int _NV>
struct se3::JointModelDense< _NQ, _NV >


Member Typedef Documentation

template<int _NQ, int _NV>
typedef JointModelBase<JointModelDense<_NQ, _NV > > se3::JointModelDense< _NQ, _NV >::Base
template<int _NQ, int _NV>
typedef JointDense<_NQ, _NV > se3::JointModelDense< _NQ, _NV >::Joint

Constructor & Destructor Documentation

template<int _NQ, int _NV>
se3::JointModelDense< _NQ, _NV >::JointModelDense ( ) [inline]
template<int _NQ, int _NV>
se3::JointModelDense< _NQ, _NV >::JointModelDense ( JointIndex  idx,
int  idx_q,
int  idx_v 
) [inline]

Member Function Documentation

template<int _NQ, int _NV>
void se3::JointModelDense< _NQ, _NV >::calc ( JointData &  ,
const Eigen::VectorXd &   
) const [inline]
template<int _NQ, int _NV>
void se3::JointModelDense< _NQ, _NV >::calc ( JointData &  ,
const Eigen::VectorXd &  ,
const Eigen::VectorXd &   
) const [inline]
template<int _NQ, int _NV>
void se3::JointModelDense< _NQ, _NV >::calc_aba ( JointData &  ,
Inertia::Matrix6 &  ,
const bool   
) const [inline]
template<int _NQ, int _NV>
JointData se3::JointModelDense< _NQ, _NV >::createData ( ) const [inline]
template<int _NQ, int _NV>
TangentVector_t se3::JointModelDense< _NQ, _NV >::difference_impl ( const Eigen::VectorXd &  ,
const Eigen::VectorXd &   
) const [inline]
template<int _NQ, int _NV>
double se3::JointModelDense< _NQ, _NV >::distance_impl ( const Eigen::VectorXd &  ,
const Eigen::VectorXd &   
) const [inline]
template<int _NQ, int _NV>
ConfigVector_t se3::JointModelDense< _NQ, _NV >::integrate_impl ( const Eigen::VectorXd &  ,
const Eigen::VectorXd &   
) const [inline]
template<int _NQ, int _NV>
ConfigVector_t se3::JointModelDense< _NQ, _NV >::interpolate_impl ( const Eigen::VectorXd &  ,
const Eigen::VectorXd &  ,
double   
) const [inline]
template<int _NQ, int _NV>
template<typename D >
SizeDepType<NV>::template ColsReturn<D>::ConstType se3::JointModelDense< _NQ, _NV >::jointCols_impl ( const Eigen::MatrixBase< D > &  A) const [inline]
template<int _NQ, int _NV>
template<typename D >
SizeDepType<NV>::template ColsReturn<D>::Type se3::JointModelDense< _NQ, _NV >::jointCols_impl ( Eigen::MatrixBase< D > &  A) const [inline]
template<>
SizeDepType< Eigen::Dynamic >::template ColsReturn< D >::ConstType se3::JointModelDense< Eigen::Dynamic, Eigen::Dynamic >::jointCols_impl ( const Eigen::MatrixBase< D > &  A) const
template<>
SizeDepType< Eigen::Dynamic >::template ColsReturn< D >::Type se3::JointModelDense< Eigen::Dynamic, Eigen::Dynamic >::jointCols_impl ( Eigen::MatrixBase< D > &  A) const
template<int _NQ, int _NV>
template<typename D >
SizeDepType<NQ>::template SegmentReturn<D>::ConstType se3::JointModelDense< _NQ, _NV >::jointConfigSelector_impl ( const Eigen::MatrixBase< D > &  a) const [inline]
template<int _NQ, int _NV>
template<typename D >
SizeDepType<NQ>::template SegmentReturn<D>::Type se3::JointModelDense< _NQ, _NV >::jointConfigSelector_impl ( Eigen::MatrixBase< D > &  a) const [inline]
template<>
SizeDepType< Eigen::Dynamic >::template SegmentReturn< D >::ConstType se3::JointModelDense< Eigen::Dynamic, Eigen::Dynamic >::jointConfigSelector_impl ( const Eigen::MatrixBase< D > &  a) const
template<>
SizeDepType< Eigen::Dynamic >::template SegmentReturn< D >::Type se3::JointModelDense< Eigen::Dynamic, Eigen::Dynamic >::jointConfigSelector_impl ( Eigen::MatrixBase< D > &  a) const
template<int _NQ, int _NV>
template<typename D >
SizeDepType<NV>::template SegmentReturn<D>::ConstType se3::JointModelDense< _NQ, _NV >::jointVelocitySelector_impl ( const Eigen::MatrixBase< D > &  a) const [inline]
template<int _NQ, int _NV>
template<typename D >
SizeDepType<NV>::template SegmentReturn<D>::Type se3::JointModelDense< _NQ, _NV >::jointVelocitySelector_impl ( Eigen::MatrixBase< D > &  a) const [inline]
template<>
SizeDepType< Eigen::Dynamic >::template SegmentReturn< D >::ConstType se3::JointModelDense< Eigen::Dynamic, Eigen::Dynamic >::jointVelocitySelector_impl ( const Eigen::MatrixBase< D > &  a) const
template<>
SizeDepType< Eigen::Dynamic >::template SegmentReturn< D >::Type se3::JointModelDense< Eigen::Dynamic, Eigen::Dynamic >::jointVelocitySelector_impl ( Eigen::MatrixBase< D > &  a) const
template<int _NQ, int _NV>
int se3::JointModelDense< _NQ, _NV >::nq_impl ( ) const [inline]
template<int _NQ, int _NV>
int se3::JointModelDense< _NQ, _NV >::nv_impl ( ) const [inline]
template<int _NQ, int _NV>
template<class D >
bool se3::JointModelDense< _NQ, _NV >::operator== ( const JointModelBase< D > &  ) const [inline]
template<int _NQ, int _NV>
ConfigVector_t se3::JointModelDense< _NQ, _NV >::random_impl ( ) const [inline]
template<int _NQ, int _NV>
ConfigVector_t se3::JointModelDense< _NQ, _NV >::randomConfiguration_impl ( const ConfigVector_t &  ,
const ConfigVector_t &   
) const [inline]
template<int _NQ, int _NV>
static const std::string se3::JointModelDense< _NQ, _NV >::shortname ( ) [inline, static]
template<int _NQ, int _NV>
JointModelDense<_NQ, _NV> se3::JointModelDense< _NQ, _NV >::toDense_impl ( ) const [inline]

Member Data Documentation

template<int _NQ, int _NV>
se3::JointModelDense< _NQ, _NV >::SE3_JOINT_TYPEDEF_TEMPLATE