Collaboration diagram for JointModelBase< Derived >:

[legend]

Public Member Functions
JointModelDerived &	derived ()

const JointModelDerived &	derived () const

JointDataDerived	createData () const

void	calc (JointDataDerived &data, const Eigen::VectorXd &qs) const

void	calc (JointDataDerived &data, const Eigen::VectorXd &qs, const Eigen::VectorXd &vs) const

void	calc_aba (JointDataDerived &data, Inertia::Matrix6 &I, const bool update_I=false) const

ConfigVector_t::Scalar	finiteDifferenceIncrement () const
	Return the resolution of the finite differerence increment according to the Scalar type. More...

ConfigVector_t	integrate (const Eigen::VectorXd &q, const Eigen::VectorXd &v) const
	Integrate joint's configuration for a tangent vector during one unit time. More...

ConfigVector_t	interpolate (const Eigen::VectorXd &q0, const Eigen::VectorXd &q1, double u) const
	Interpolation between two joint's configurations. More...

ConfigVector_t	random () const
	Generate a random joint configuration, normalizing quaternions when necessary. More...

ConfigVector_t	randomConfiguration (const ConfigVector_t &lower_pos_limit, const ConfigVector_t &upper_pos_limit) const
	Generate a configuration vector uniformly sampled among provided limits. More...

TangentVector_t	difference (const Eigen::VectorXd &q0, const Eigen::VectorXd &q1) const
	the tangent vector that must be integrated during one unit time to go from q0 to q1 More...

double	distance (const Eigen::VectorXd &q0, const Eigen::VectorXd &q1) const
	Distance between two configurations of the joint. More...

ConfigVector_t	neutralConfiguration () const
	Get neutral configuration of joint. More...

void	normalize (Eigen::VectorXd &q) const
	Normalize a configuration. More...

void	normalize_impl (Eigen::VectorXd &) const
	Default implementation of normalize.

bool	isSameConfiguration (const Eigen::VectorXd &q1, const Eigen::VectorXd &q2, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
	Check if two configurations are equivalent within the given precision. More...

int	nv () const

int	nq () const

int	nv_impl () const

int	nq_impl () const

int	idx_q () const

int	idx_v () const

JointIndex	id () const

void	setIndexes (JointIndex id, int q, int v)

void	setIndexes_impl (JointIndex id, int q, int v)

void	disp (std::ostream &os) const

std::string	shortname () const

template<class OtherDerived >
bool	operator== (const JointModelBase< OtherDerived > &other) const

template<class OtherDerived >
bool	isEqual (const JointModelBase< OtherDerived > &) const

bool	isEqual (const JointModelBase< Derived > &other) const

template<typename D >
SizeDepType< NQ >::template SegmentReturn< D >::ConstType	jointConfigSelector (const Eigen::MatrixBase< D > &a) 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 (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 (const 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 (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 (const 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 (Eigen::MatrixBase< D > &A) const

template<typename D >
SizeDepType< NV >::template ColsReturn< D >::Type	jointCols_impl (Eigen::MatrixBase< D > &A) const

Static Public Member Functions
static std::string	classname ()

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits< Derived >::JointDerived	JointDerived

	SE3_JOINT_TYPEDEF_TEMPLATE

JointIndex	i_id

int	i_q

int	i_v

Protected Member Functions
	JointModelBase ()

	JointModelBase (const JointModelBase &clone)

JointModelBase &	operator= (const JointModelBase &clone)

Friends
std::ostream &	operator<< (std::ostream &os, const JointModelBase< Derived > &joint)

Detailed Description

template<typename Derived>
struct se3::JointModelBase< Derived >

Definition at line 196 of file joint-base.hpp.

Constructor & Destructor Documentation

JointModelBase ( )

inlineprotected

Default constructor: protected.

Prevent the construction of stand-alone JointModelBase.

Definition at line 435 of file joint-base.hpp.

JointModelBase ( const JointModelBase< Derived > & clone )

inlineprotected

Copy constructor: protected.

Copy of stand-alone JointModelBase are prevented, but can be used from inhereting objects. Copy is done by calling copy operator.

Definition at line 441 of file joint-base.hpp.

Member Function Documentation

TangentVector_t difference	(	const Eigen::VectorXd &	q0,
		const Eigen::VectorXd &	q1
	)		const

inline

the tangent vector that must be integrated during one unit time to go from q0 to q1

Parameters

[in]	q0	Initial configuration
[in]	q1	Wished configuration

Returns: The corresponding velocity

Definition at line 290 of file joint-base.hpp.

double distance	(	const Eigen::VectorXd &	q0,
		const Eigen::VectorXd &	q1
	)		const

inline

Distance between two configurations of the joint.

Parameters

[in]	q0	Configuration 1
[in]	q1	Configuration 2

Returns: The corresponding distance

Definition at line 301 of file joint-base.hpp.

ConfigVector_t::Scalar finiteDifferenceIncrement ( ) const

inline

Return the resolution of the finite differerence increment according to the Scalar type.

Remarks: Ideally, this function must depend on the value of q

Returns: The finite difference increment.

Definition at line 229 of file joint-base.hpp.

ConfigVector_t integrate	(	const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v
	)		const

inline

Integrate joint's configuration for a tangent vector during one unit time.

Parameters

[in]	q	initatial configuration (size full model.nq)
[in]	v	joint velocity (size full model.nv)

Returns: The configuration integrated

Definition at line 240 of file joint-base.hpp.

ConfigVector_t interpolate	(	const Eigen::VectorXd &	q0,
		const Eigen::VectorXd &	q1,
		double	u
	)		const

inline

Interpolation between two joint's configurations.

Parameters

[in]	q0	Initial configuration to interpolate
[in]	q1	Final configuration to interpolate
[in]	u	u in [0;1] position along the interpolation.

Returns: The interpolated configuration (q0 if u = 0, q1 if u = 1)

Definition at line 253 of file joint-base.hpp.

bool isSameConfiguration	(	const Eigen::VectorXd &	q1,
		const Eigen::VectorXd &	q2,
		const Scalar &	prec = `Eigen::NumTraits<Scalar>::dummy_precision()`
	)		const

inline

Check if two configurations are equivalent within the given precision.

Parameters

[in]	q1	Configuration 1 (size full model.nq)
[in]	q2	Configuration 2 (size full model.nq)

Definition at line 331 of file joint-base.hpp.

ConfigVector_t neutralConfiguration ( ) const

inline

Get neutral configuration of joint.

Returns: The joint's neutral configuration

Definition at line 309 of file joint-base.hpp.

void normalize ( Eigen::VectorXd & q ) const

inline

Normalize a configuration.

Parameters

[in,out] q Configuration to normalize (size full model.nq)

Definition at line 317 of file joint-base.hpp.

JointModelBase& operator= ( const JointModelBase< Derived > & clone )

inlineprotected

Copy operator: protected.

Copy of stand-alone JointModelBase are prevented, but can be used from inhereting objects.

Definition at line 447 of file joint-base.hpp.

ConfigVector_t random ( ) const

inline

Generate a random joint configuration, normalizing quaternions when necessary.

Warning: Do not take into account the joint limits. To shoot a configuration uniformingly depending on joint limits, see uniformySample

Returns: The joint configuration

Definition at line 265 of file joint-base.hpp.

ConfigVector_t randomConfiguration	(	const ConfigVector_t &	lower_pos_limit,
		const ConfigVector_t &	upper_pos_limit
	)		const

inline

Generate a configuration vector uniformly sampled among provided limits.

Parameters

[in]	lower_pos_limit	lower joint limit
[in]	upper_pos_limit	upper joint limit

Returns: The joint configuration

Definition at line 277 of file joint-base.hpp.

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

joint-base.hpp

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Friends

Detailed Description

template<typename Derived> struct se3::JointModelBase< Derived >

Constructor & Destructor Documentation

Member Function Documentation

template<typename Derived>
struct se3::JointModelBase< Derived >