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JointModelFreeFlyer Struct Reference
Inheritance diagram for JointModelFreeFlyer:
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Collaboration diagram for JointModelFreeFlyer:
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Public Types

typedef JointFreeFlyer JointDerived
 
typedef Motion::Vector3 Vector3
 

Public Member Functions

JointDataDerived createData () const
 
template<typename V >
void forwardKinematics (Transformation_t &M, const Eigen::MatrixBase< V > &q_joint) 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) const
 
Scalar finiteDifferenceIncrement () const
 
ConfigVector_t integrate_impl (const Eigen::VectorXd &qs, const Eigen::VectorXd &vs) const
 
ConfigVector_t interpolate_impl (const Eigen::VectorXd &q0, const Eigen::VectorXd &q1, const double u) const
 
ConfigVector_t random_impl () const
 
ConfigVector_t randomConfiguration_impl (const ConfigVector_t &lower_pos_limit, const ConfigVector_t &upper_pos_limit) const throw (std::runtime_error)
 
TangentVector_t difference_impl (const Eigen::VectorXd &q0, const Eigen::VectorXd &q1) const
 
double distance_impl (const Eigen::VectorXd &q0, const Eigen::VectorXd &q1) const
 
ConfigVector_t neutralConfiguration_impl () const
 
void normalize_impl (Eigen::VectorXd &q) const
 
bool isSameConfiguration_impl (const Eigen::VectorXd &q1, const Eigen::VectorXd &q2, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
 
std::string shortname () const
 
- Public Member Functions inherited from JointModelBase< JointModelFreeFlyer >
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
 
bool operator== (const JointModelBase< OtherDerived > &other) const
 
bool isEqual (const JointModelBase< OtherDerived > &) const
 
bool isEqual (const JointModelBase< JointModelFreeFlyer > &other) const
 
SizeDepType< NQ >::template SegmentReturn< D >::ConstType jointConfigSelector (const Eigen::MatrixBase< D > &a) const
 
SizeDepType< NQ >::template SegmentReturn< D >::Type jointConfigSelector (Eigen::MatrixBase< D > &a) const
 
SizeDepType< NQ >::template SegmentReturn< D >::ConstType jointConfigSelector_impl (const Eigen::MatrixBase< D > &a) const
 
SizeDepType< NQ >::template SegmentReturn< D >::Type jointConfigSelector_impl (Eigen::MatrixBase< D > &a) const
 
SizeDepType< NV >::template SegmentReturn< D >::ConstType jointVelocitySelector (const Eigen::MatrixBase< D > &a) const
 
SizeDepType< NV >::template SegmentReturn< D >::Type jointVelocitySelector (Eigen::MatrixBase< D > &a) const
 
SizeDepType< NV >::template SegmentReturn< D >::ConstType jointVelocitySelector_impl (const Eigen::MatrixBase< D > &a) const
 
SizeDepType< NV >::template SegmentReturn< D >::Type jointVelocitySelector_impl (Eigen::MatrixBase< D > &a) const
 
SizeDepType< NV >::template ColsReturn< D >::ConstType jointCols (const Eigen::MatrixBase< D > &A) const
 
SizeDepType< NV >::template ColsReturn< D >::Type jointCols (Eigen::MatrixBase< D > &A) const
 
SizeDepType< NV >::template ColsReturn< D >::ConstType jointCols_impl (const Eigen::MatrixBase< D > &A) const
 
SizeDepType< NV >::template ColsReturn< D >::Type jointCols_impl (Eigen::MatrixBase< D > &A) const
 

Static Public Member Functions

static std::string classname ()
 
- Static Public Member Functions inherited from JointModelBase< JointModelFreeFlyer >
static std::string classname ()
 

Public Attributes

 SE3_JOINT_TYPEDEF
 
- Public Attributes inherited from JointModelBase< JointModelFreeFlyer >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits< JointModelFreeFlyer >::JointDerived JointDerived
 
 SE3_JOINT_TYPEDEF_TEMPLATE
 
JointIndex i_id
 
int i_q
 
int i_v
 

Additional Inherited Members

- Protected Member Functions inherited from JointModelBase< JointModelFreeFlyer >
 JointModelBase ()
 
 JointModelBase (const JointModelBase &clone)
 
JointModelBase & operator= (const JointModelBase &clone)
 

Detailed Description

Definition at line 190 of file joint-free-flyer.hpp.

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