Template Struct SE3actOn< CppAD::AD< _Scalar > >

• Defined in File aba.hpp

Struct Documentation

template<typename _Scalar>
struct SE3actOn<CppAD::AD<_Scalar>>

Partial specialization for CppAD::AGtypes.

Public Types

typedef CppAD::AD<_Scalar> Scalar

Public Functions

typedef PINOCCHIO_EIGEN_PLAIN_TYPE (Matrix6Type) ReturnType

SE3::ActionMatrixType dual_action_matrix (M.toDualActionMatrix())

SE3::ActionMatrixType action_matrix (M.toActionMatrixInverse())

Public Members

Options &M

Options const Eigen::MatrixBase< Matrix6Type > & I  {typedefSE3Tpl<Scalar,Options> SE3

ReturnType intermediate_result = dual_action_matrix * I

ReturnType res = intermediate_result * action_matrix

return res

Public Static Functions

template<int Options, typename Matrix6Type> static static PINOCCHIO_EIGEN_PLAIN_TYPE (Matrix6Type) run(const SE3Tpl< Scalar