Basic expression representing a point in a joint frame. More...
#include <hpp/constraints/tools.hh>
Public Member Functions | |
PointInJoint () | |
PointInJoint (const CalculusBase< PointInJoint > &other) | |
PointInJoint (const PointInJoint &pointInJoint) | |
PointInJoint (const JointPtr_t &joint, const vector3_t &pointInLocalFrame) | |
const JointPtr_t & | joint () const |
const vector3_t & | local () const |
void | computeValue () |
void | computeJacobian () |
void | computeCrossRXl () |
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CalculusBase () | |
const eigen::vector3_t & | value () const |
const JacobianMatrix & | jacobian () const |
const CrossMatrix & | cross () const |
void | computeCrossValue () |
CrossProduct< PointInJoint, RhsType > | operator^ (const RhsType &rhs) const |
Difference< PointInJoint, RhsType > | operator- (const RhsType &rhs) const |
Sum< PointInJoint, RhsType > | operator+ (const RhsType &rhs) const |
ScalarMultiply< PointInJoint > | operator* (const value_type &scalar) const |
Protected Attributes | |
JointPtr_t | joint_ |
vector3_t | local_ |
bool | center_ |
vector3_t | g_ |
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eigen::vector3_t | value_ |
JacobianMatrix | jacobian_ |
CrossMatrix | cross_ |
Additional Inherited Members | |
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template<typename Type > | |
static boost::shared_ptr< Type > | create (const Type ©) |
Basic expression representing a point in a joint frame.
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References hpp::constraints::computeCrossMatrix().
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Implements hpp::constraints::CalculusBaseAbstract.
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Implements hpp::constraints::CalculusBaseAbstract.
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Referenced by PointInJoint().
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Referenced by PointInJoint().
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