6 #ifndef __pinocchio_motion_zero_hpp__ 7 #define __pinocchio_motion_zero_hpp__ 12 template<
typename Scalar,
int Options>
18 template<
typename Scalar,
int Options,
typename MotionDerived>
24 template<
typename _Scalar,
int _Options>
32 typedef _Scalar Scalar;
33 typedef Eigen::Matrix<Scalar,3,1,Options> Vector3;
34 typedef Eigen::Matrix<Scalar,6,1,Options> Vector6;
35 typedef Eigen::Matrix<Scalar,3,3,Options> Matrix3;
36 typedef Eigen::Matrix<Scalar,6,6,Options> Matrix6;
37 typedef typename PINOCCHIO_EIGEN_REF_CONST_TYPE(Vector6) ToVectorConstReturnType;
38 typedef typename PINOCCHIO_EIGEN_REF_TYPE(Vector6) ToVectorReturnType;
39 typedef Matrix6 ActionMatrixType;
40 typedef Vector3 AngularType;
41 typedef const Vector3 ConstAngularType;
42 typedef Vector3 LinearType;
43 typedef const Vector3 ConstLinearType;
49 template<
typename Scalar,
int Options>
51 :
public MotionBase< BiasZeroTpl<Scalar,Options> >
56 static PlainReturnType plain() {
return MotionPlain::Zero(); }
60 {
return other.linear().isZero() && other.angular().isZero(); }
77 template<
typename S2,
int O2,
typename D2>
83 template<
typename S2,
int O2>
89 template<
typename S2,
int O2,
typename D2>
95 template<
typename S2,
int O2>
103 template<
typename M1,
typename Scalar,
int Options>
106 {
return v.derived(); }
108 template<
typename Scalar,
int Options,
typename M1>
111 {
return v.derived(); }
115 #endif // ifndef __pinocchio_motion_zero_hpp__
Return type of the ation of a Motion onto an object of type D.
Main pinocchio namespace.
Common traits structure to fully define base classes for CRTP.