Template Function pinocchio::neutral(const LieGroupGenericTpl<LieGroupCollection>&)

• Defined in File liegroup-variant-visitors.hxx

Function Documentation

template<typename LieGroupCollection>
inline Eigen::Matrix<typename LieGroupCollection::Scalar, Eigen::Dynamic, 1, LieGroupCollection::Options> pinocchio::neutral(const LieGroupGenericTpl<LieGroupCollection> &lg)

Visit a LieGroupVariant to get the neutral element of it.

Parameters:

lg – [in] the LieGroupVariant.

Returns:

The Lie group neutral element