Template Function pinocchio::integrate(const LieGroupGenericTpl<LieGroupCollection>&, const Eigen::MatrixBase<ConfigIn_t>&, const Eigen::MatrixBase<Tangent_t>&, const Eigen::MatrixBase<ConfigOut_t>&)

• Defined in File liegroup-variant-visitors.hxx

Function Documentation

template<typename LieGroupCollection, class ConfigIn_t, class Tangent_t, class ConfigOut_t>
inline void pinocchio::integrate(const LieGroupGenericTpl<LieGroupCollection> &lg, const Eigen::MatrixBase<ConfigIn_t> &q, const Eigen::MatrixBase<Tangent_t> &v, const Eigen::MatrixBase<ConfigOut_t> &qout)

Visit a LieGroupVariant to call its integrate method.

Parameters:

• lg – [in] the LieGroupVariant.

• q – [in] the starting configuration.

• v – [in] the tangent velocity.