pinocchio  2.5.6
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
Public Types | Public Member Functions | Static Public Member Functions | Public Attributes | List of all members
JointDataCompositeTpl< _Scalar, _Options, JointCollectionTpl > Struct Template Reference
Joint

Public Types

typedef JointDataBase< JointDataCompositeTpl > Base
 
typedef JointDataTpl< Scalar, Options, JointCollectionTpl > JointDataVariant
 
typedef JointCompositeTpl< _Scalar, _Options, JointCollectionTpl > JointDerived
 

Public Member Functions

 JointDataCompositeTpl (const JointDataVector &joint_data, const int, const int nv)
 
typedef PINOCCHIO_ALIGNED_STD_VECTOR (JointDataVariant) JointDataVector
 
 PINOCCHIO_ALIGNED_STD_VECTOR (Transformation_t) iMlast
 Transforms from previous joint to last joint.
 
 PINOCCHIO_ALIGNED_STD_VECTOR (Transformation_t) pjMi
 Transforms from previous joint to joint i.
 
 PINOCCHIO_JOINT_DATA_TYPEDEF_TEMPLATE (JointDerived)
 
std::string shortname () const
 

Static Public Member Functions

static std::string classname ()
 

Public Attributes

Bias_t c
 
D_t Dinv
 
PINOCCHIO_JOINT_DATA_BASE_DEFAULT_ACCESSOR typedef JointCollectionTpl< Scalar, Options > JointCollection
 
JointDataVector joints
 Vector of joints.
 
Transformation_t M
 
Constraint_t S
 
D_t StU
 
U_t U
 
UD_t UDinv
 
Motion_t v
 

Detailed Description

template<typename _Scalar, int _Options, template< typename S, int O > class JointCollectionTpl>
struct pinocchio::JointDataCompositeTpl< _Scalar, _Options, JointCollectionTpl >

Definition at line 89 of file fwd.hpp.

The documentation for this struct was generated from the following files: