#include <multibody/joint/joint-spherical-ZYX.hpp>
Public Member Functions | |
ConstraintTranspose (const ConstraintRotationalSubspace &ref) | |
const Eigen::ProductReturnType < Eigen::Transpose< const Matrix3 >, Eigen::Block< const typename Force::Vector6, 3, 1 > >::Type | operator* (const Force &phi) const |
template<typename D > | |
const Eigen::ProductReturnType < typename Eigen::Transpose < const Matrix3 >, typename Eigen::MatrixBase< const D > ::template NRowsBlockXpr < 3 >::Type >::Type | operator* (const Eigen::MatrixBase< D > &F) const |
Public Attributes | |
const ConstraintRotationalSubspace & | ref |
se3::JointSphericalZYXTpl< _Scalar, _Options >::ConstraintRotationalSubspace::ConstraintTranspose::ConstraintTranspose | ( | const ConstraintRotationalSubspace & | ref | ) | [inline] |
const Eigen::ProductReturnType< Eigen::Transpose<const Matrix3>, Eigen::Block<const typename Force::Vector6,3,1> >::Type se3::JointSphericalZYXTpl< _Scalar, _Options >::ConstraintRotationalSubspace::ConstraintTranspose::operator* | ( | const Force & | phi | ) | const [inline] |
const Eigen::ProductReturnType< typename Eigen::Transpose<const Matrix3>, typename Eigen::MatrixBase<const D>::template NRowsBlockXpr<3>::Type >::Type se3::JointSphericalZYXTpl< _Scalar, _Options >::ConstraintRotationalSubspace::ConstraintTranspose::operator* | ( | const Eigen::MatrixBase< D > & | F | ) | const [inline] |
const ConstraintRotationalSubspace& se3::JointSphericalZYXTpl< _Scalar, _Options >::ConstraintRotationalSubspace::ConstraintTranspose::ref |