Struct LinearAffineTransform

• Defined in File joint-common-operations.hpp

Struct Documentation

struct LinearAffineTransform

Linear affine transformation of the configuration vector. Valide for most common joints which are evolving on a vectorial space.

Public Static Functions

template<typename ConfigVectorIn, typename Scalar, typename ConfigVectorOut>
static inline void run(const Eigen::MatrixBase<ConfigVectorIn> &q, const Scalar &scaling, const Scalar &offset, const Eigen::MatrixBase<ConfigVectorOut> &dest)