kynema::constraints::CalculateRevoluteJointOutput< DeviceType > Struct Template Reference

Kernel for calculating the output for a revolute joint constraint for feedback to controllers. More...

#include <calculate_revolute_joint_output.hpp>

Public Types
template<typename ValueType >
using	View = Kokkos::View< ValueType, DeviceType >
template<typename ValueType >
using	ConstView = typename View< ValueType >::const_type

Public Member Functions
KOKKOS_FUNCTION void	operator() () const

Public Attributes
int	constraint
ConstView< size_t * >	target_node_index
ConstView< double *[3][3]>	axes
ConstView< double *[7]>	node_x0
ConstView< double *[7]>	node_u
ConstView< double *[6]>	node_udot
ConstView< double *[6]>	node_uddot
View< double *[3]>	outputs

Detailed Description

template<typename DeviceType>
struct kynema::constraints::CalculateRevoluteJointOutput< DeviceType >

Kernel for calculating the output for a revolute joint constraint for feedback to controllers.

Member Typedef Documentation

ConstView

template<typename DeviceType >

template<typename ValueType >

using kynema::constraints::CalculateRevoluteJointOutput< DeviceType >::ConstView = typename View<ValueType>::const_type

View

template<typename DeviceType >

template<typename ValueType >

using kynema::constraints::CalculateRevoluteJointOutput< DeviceType >::View = Kokkos::View<ValueType, DeviceType>

Member Function Documentation

operator()()

template<typename DeviceType >

KOKKOS_FUNCTION void kynema::constraints::CalculateRevoluteJointOutput< DeviceType >::operator() ( ) const

inline

Member Data Documentation

axes

template<typename DeviceType >

ConstView<double* [3][3]> kynema::constraints::CalculateRevoluteJointOutput< DeviceType >::axes

constraint

template<typename DeviceType >

int kynema::constraints::CalculateRevoluteJointOutput< DeviceType >::constraint

node_u

template<typename DeviceType >

ConstView<double* [7]> kynema::constraints::CalculateRevoluteJointOutput< DeviceType >::node_u

node_uddot

template<typename DeviceType >

ConstView<double* [6]> kynema::constraints::CalculateRevoluteJointOutput< DeviceType >::node_uddot

node_udot

template<typename DeviceType >

ConstView<double* [6]> kynema::constraints::CalculateRevoluteJointOutput< DeviceType >::node_udot

node_x0

template<typename DeviceType >

ConstView<double* [7]> kynema::constraints::CalculateRevoluteJointOutput< DeviceType >::node_x0

outputs

template<typename DeviceType >

View<double* [3]> kynema::constraints::CalculateRevoluteJointOutput< DeviceType >::outputs

target_node_index

template<typename DeviceType >

ConstView<size_t*> kynema::constraints::CalculateRevoluteJointOutput< DeviceType >::target_node_index

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

• /home/runner/work/kynema/kynema/kynema/src/constraints/calculate_revolute_joint_output.hpp