Template Struct SE3Tpl

Defined in File se3-tpl.hpp

Inheritance Relationships

Base Type

public pinocchio::SE3Base< SE3Tpl< _Scalar, _Options > > (Template Struct SE3Base)

Struct Documentation

template<typename _Scalar, int _Options> struct SE3Tpl : public pinocchio::SE3Base<SE3Tpl<_Scalar, _Options>>

Public Types

typedef SE3Base<SE3Tpl<_Scalar, _Options>> Base

typedef Eigen::Quaternion<Scalar, Options> Quaternion

typedef traits<SE3Tpl>::Vector3 Vector3

typedef traits<SE3Tpl>::Matrix3 Matrix3

typedef traits<SE3Tpl>::Matrix4 Matrix4

typedef traits<SE3Tpl>::Vector4 Vector4

typedef traits<SE3Tpl>::Matrix6 Matrix6

Public Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW PINOCCHIO_SE3_TYPEDEF_TPL(SE3Tpl)

inline SE3Tpl()

template<typename QuaternionLike, typename Vector3Like> inline SE3Tpl(const Eigen::QuaternionBase<QuaternionLike> &quat, const Eigen::MatrixBase<Vector3Like> &trans)

template<typename Matrix3Like, typename Vector3Like> inline SE3Tpl(const Eigen::MatrixBase<Matrix3Like> &R, const Eigen::MatrixBase<Vector3Like> &trans)

template<typename Matrix4Like> inline explicit SE3Tpl(const Eigen::MatrixBase<Matrix4Like> &m)

inline SE3Tpl(int)

template<int O2> inline SE3Tpl(const SE3Tpl<Scalar, O2> &clone)

template<int O2> inline SE3Tpl &operator=(const SE3Tpl<Scalar, O2> &other)

inline SE3Tpl &setIdentity()

inline SE3Tpl inverse() const: aXb = bXa.inverse()

inline SE3Tpl &setRandom()

inline HomogeneousMatrixType toHomogeneousMatrix_impl() const

inline ActionMatrixType toActionMatrix_impl() const: Vb.toVector() = bXa.toMatrix() * Va.toVector()

inline ActionMatrixType toActionMatrixInverse_impl() const

inline ActionMatrixType toDualActionMatrix_impl() const

inline void disp_impl(std::ostream &os) const

template<typename D> inline SE3GroupAction<D>::ReturnType act_impl(const D &d) const

— GROUP ACTIONS ON M6, F6 and I6 —

ay = aXb.act(by)

template<typename D> inline SE3GroupAction<D>::ReturnType actInv_impl(const D &d) const: by = aXb.actInv(ay)

template<typename EigenDerived> inline EigenDerived::PlainObject actOnEigenObject(const Eigen::MatrixBase<EigenDerived> &p) const

template<typename MapDerived> inline Vector3 actOnEigenObject(const Eigen::MapBase<MapDerived> &p) const

template<typename EigenDerived> inline EigenDerived::PlainObject actInvOnEigenObject(const Eigen::MatrixBase<EigenDerived> &p) const

template<typename MapDerived> inline Vector3 actInvOnEigenObject(const Eigen::MapBase<MapDerived> &p) const

inline Vector3 act_impl(const Vector3 &p) const

inline Vector3 actInv_impl(const Vector3 &p) const

template<int O2> inline SE3Tpl act_impl(const SE3Tpl<Scalar, O2> &m2) const

template<int O2> inline SE3Tpl actInv_impl(const SE3Tpl<Scalar, O2> &m2) const

template<int O2> inline SE3Tpl __mult__(const SE3Tpl<Scalar, O2> &m2) const

template<int O2> inline bool isEqual(const SE3Tpl<Scalar, O2> &m2) const

template<int O2> inline bool isApprox_impl(const SE3Tpl<Scalar, O2> &m2, const Scalar &prec = Eigen::NumTraits<Scalar>::dummy_precision()) const

inline bool isIdentity(const Scalar &prec = Eigen::NumTraits<Scalar>::dummy_precision()) const

inline ConstAngularRef rotation_impl() const

inline AngularRef rotation_impl()

inline void rotation_impl(const AngularType &R)

inline ConstLinearRef translation_impl() const

inline LinearRef translation_impl()

inline void translation_impl(const LinearType &p)

template<typename NewScalar> inline SE3Tpl<NewScalar, Options> cast() const

Returns:: An expression of *this with the Scalar type casted to NewScalar.

inline bool isNormalized(const Scalar &prec = Eigen::NumTraits<Scalar>::dummy_precision()) const

inline void normalize()

inline PlainType normalized() const

template<typename OtherScalar> SE3Tpl<Scalar, Options> Interpolate(const SE3Tpl &A, const SE3Tpl &B, const OtherScalar &alpha)

Public Static Functions

static inline SE3Tpl Identity()

static inline SE3Tpl Random()

template<typename OtherScalar> static SE3Tpl Interpolate(const SE3Tpl &A, const SE3Tpl &B, const OtherScalar &alpha)

Linear interpolation on the SE3 manifold.

Note

This is similar to the SLERP operation which acts initially for rotation but applied here to rigid transformation.

Parameters:

A – [in] Initial transformation.
B – [in] Target transformation.
alpha – [in] Interpolation factor in [0 … 1].

Returns:

An interpolated transformation between A and B.

Protected Attributes

AngularType rot

LinearType trans