#include <fwd.hpp>

Inheritance diagram for pinocchio::SE3Tpl< _Scalar, _Options >:

Public Types
typedef SE3Base< SE3Tpl< _Scalar, _Options > >	Base

typedef traits< SE3Tpl >::Matrix3	Matrix3

typedef traits< SE3Tpl >::Matrix4	Matrix4

typedef traits< SE3Tpl >::Matrix6	Matrix6

typedef Eigen::Quaternion< Scalar, Options >	Quaternion

typedef traits< SE3Tpl >::Vector3	Vector3

typedef traits< SE3Tpl >::Vector4	Vector4

Public Member Functions
template<int O2>
SE3Tpl	__mult__ (const SE3Tpl< Scalar, O2 > &m2) const

template<typename D >
SE3GroupAction< D >::ReturnType	act_impl (const D &d) const
	— GROUP ACTIONS ON M6, F6 and I6 — More...

Vector3	act_impl (const Vector3 &p) const

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

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

Vector3	actInv_impl (const Vector3 &p) const

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

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

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

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

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

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

void	disp_impl (std::ostream &os) const

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

SE3Tpl	inverse () const
	aXb = bXa.inverse() More...

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

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

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

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

void	normalize ()

PlainType	normalized () const

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

EIGEN_MAKE_ALIGNED_OPERATOR_NEW	PINOCCHIO_SE3_TYPEDEF_TPL (SE3Tpl)

ConstAngularRef	rotation_impl () const

AngularRef	rotation_impl ()

void	rotation_impl (const AngularType &R)

	SE3Tpl ()

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

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

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

	SE3Tpl (int)

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

SE3Tpl &	setIdentity ()

SE3Tpl &	setRandom ()

ActionMatrixType	toActionMatrix_impl () const
	Vb.toVector() = bXa.toMatrix() * Va.toVector() More...

ActionMatrixType	toActionMatrixInverse_impl () const

ActionMatrixType	toDualActionMatrix_impl () const

HomogeneousMatrixType	toHomogeneousMatrix_impl () const

ConstLinearRef	translation_impl () const

LinearRef	translation_impl ()

void	translation_impl (const LinearType &p)

Public Member Functions inherited from pinocchio::SE3Base< SE3Tpl< _Scalar, _Options > >
SE3GroupAction< D >::ReturnType	act (const D &d) const
	ay = aXb.act(by) More...

SE3GroupAction< D >::ReturnType	actInv (const D &d) const
	by = aXb.actInv(ay) More...

SE3Tpl< _Scalar, _Options > &	derived ()

const SE3Tpl< _Scalar, _Options > &	derived () const

void	disp (std::ostream &os) const

bool	isApprox (const SE3Tpl< _Scalar, _Options > &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

bool	isIdentity (const typename traits< SE3Tpl< _Scalar, _Options > >::Scalar &prec=Eigen::NumTraits< typename traits< SE3Tpl< _Scalar, _Options > >::Scalar >::dummy_precision()) const

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

void	normalize ()
	Normalize this in such a way the rotation part of this lies on SO(3). More...

PlainType	normalized () const

	operator ActionMatrixType () const

	operator HomogeneousMatrixType () const

bool	operator!= (const SE3Tpl< _Scalar, _Options > &other) const

SE3GroupAction< SE3Tpl< _Scalar, _Options > >::ReturnType	operator* (const SE3Tpl< _Scalar, _Options > &m2) const

bool	operator== (const SE3Tpl< _Scalar, _Options > &other) const

	PINOCCHIO_SE3_TYPEDEF_TPL (SE3Tpl< _Scalar, _Options >)

ConstAngularRef	rotation () const

AngularRef	rotation ()

void	rotation (const AngularType &R)

ActionMatrixType	toActionMatrix () const
	The action matrix ${}^aX_b$ of ${}^aM_b$ . More...

ActionMatrixType	toActionMatrixInverse () const
	The action matrix ${}^bX_a$ of ${}^aM_b$ . More...

ActionMatrixType	toDualActionMatrix () const

HomogeneousMatrixType	toHomogeneousMatrix () const

ConstLinearRef	translation () const

LinearRef	translation ()

void	translation (const LinearType &t)

Static Public Member Functions
static SE3Tpl	Identity ()

template<typename OtherScalar >
static SE3Tpl	Interpolate (const SE3Tpl &A, const SE3Tpl &B, const OtherScalar &alpha)
	Linear interpolation on the SE3 manifold. More...

static SE3Tpl	Random ()

Protected Attributes
AngularType	rot

LinearType	trans

Detailed Description

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

Definition at line 38 of file src/spatial/fwd.hpp.

Member Typedef Documentation

template<typename _Scalar, int _Options>

typedef SE3Base< SE3Tpl<_Scalar,_Options> > pinocchio::SE3Tpl< _Scalar, _Options >::Base

Definition at line 51 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

typedef traits<SE3Tpl>::Matrix3 pinocchio::SE3Tpl< _Scalar, _Options >::Matrix3

Definition at line 54 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

typedef traits<SE3Tpl>::Matrix4 pinocchio::SE3Tpl< _Scalar, _Options >::Matrix4

Definition at line 55 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

typedef traits<SE3Tpl>::Matrix6 pinocchio::SE3Tpl< _Scalar, _Options >::Matrix6

Definition at line 57 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

typedef Eigen::Quaternion<Scalar,Options> pinocchio::SE3Tpl< _Scalar, _Options >::Quaternion

Definition at line 52 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

typedef traits<SE3Tpl>::Vector3 pinocchio::SE3Tpl< _Scalar, _Options >::Vector3

Definition at line 53 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

typedef traits<SE3Tpl>::Vector4 pinocchio::SE3Tpl< _Scalar, _Options >::Vector4

Definition at line 56 of file spatial/se3-tpl.hpp.

Constructor & Destructor Documentation

template<typename _Scalar, int _Options>

pinocchio::SE3Tpl< _Scalar, _Options >::SE3Tpl ( )

inline

Definition at line 62 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

template<typename QuaternionLike , typename Vector3Like >

pinocchio::SE3Tpl< _Scalar, _Options >::SE3Tpl	(	const Eigen::QuaternionBase< QuaternionLike > &	quat,
		const Eigen::MatrixBase< Vector3Like > &	trans
	)

inline

Definition at line 65 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

template<typename Matrix3Like , typename Vector3Like >

pinocchio::SE3Tpl< _Scalar, _Options >::SE3Tpl	(	const Eigen::MatrixBase< Matrix3Like > &	R,
		const Eigen::MatrixBase< Vector3Like > &	trans
	)

inline

Definition at line 73 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

template<typename Matrix4Like >

pinocchio::SE3Tpl< _Scalar, _Options >::SE3Tpl ( const Eigen::MatrixBase< Matrix4Like > & m )

inlineexplicit

Definition at line 82 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

pinocchio::SE3Tpl< _Scalar, _Options >::SE3Tpl ( int )

inline

Definition at line 89 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

template<int O2>

pinocchio::SE3Tpl< _Scalar, _Options >::SE3Tpl ( const SE3Tpl< Scalar, O2 > & clone )

inline

Definition at line 95 of file spatial/se3-tpl.hpp.

Member Function Documentation

template<typename _Scalar, int _Options>

template<int O2>

SE3Tpl pinocchio::SE3Tpl< _Scalar, _Options >::__mult__ ( const SE3Tpl< Scalar, O2 > & m2 ) const

inline

Definition at line 257 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

template<typename D >

SE3GroupAction<D>::ReturnType pinocchio::SE3Tpl< _Scalar, _Options >::act_impl ( const D & d ) const

inline

— GROUP ACTIONS ON M6, F6 and I6 —

ay = aXb.act(by)

Definition at line 210 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

Vector3 pinocchio::SE3Tpl< _Scalar, _Options >::act_impl ( const Vector3 & p ) const

inline

Definition at line 240 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

template<int O2>

SE3Tpl pinocchio::SE3Tpl< _Scalar, _Options >::act_impl ( const SE3Tpl< Scalar, O2 > & m2 ) const

inline

Definition at line 247 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

template<typename D >

SE3GroupAction<D>::ReturnType pinocchio::SE3Tpl< _Scalar, _Options >::actInv_impl ( const D & d ) const

inline

by = aXb.actInv(ay)

Definition at line 217 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

Vector3 pinocchio::SE3Tpl< _Scalar, _Options >::actInv_impl ( const Vector3 & p ) const

inline

Definition at line 243 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

template<int O2>

SE3Tpl pinocchio::SE3Tpl< _Scalar, _Options >::actInv_impl ( const SE3Tpl< Scalar, O2 > & m2 ) const

inline

Definition at line 252 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

template<typename EigenDerived >

EigenDerived::PlainObject pinocchio::SE3Tpl< _Scalar, _Options >::actInvOnEigenObject ( const Eigen::MatrixBase< EigenDerived > & p ) const

inline

Definition at line 233 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

template<typename MapDerived >

Vector3 pinocchio::SE3Tpl< _Scalar, _Options >::actInvOnEigenObject ( const Eigen::MapBase< MapDerived > & p ) const

inline

Definition at line 237 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

template<typename EigenDerived >

EigenDerived::PlainObject pinocchio::SE3Tpl< _Scalar, _Options >::actOnEigenObject ( const Eigen::MatrixBase< EigenDerived > & p ) const

inline

Definition at line 224 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

template<typename MapDerived >

Vector3 pinocchio::SE3Tpl< _Scalar, _Options >::actOnEigenObject ( const Eigen::MapBase< MapDerived > & p ) const

inline

Definition at line 228 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

template<typename NewScalar >

SE3Tpl<NewScalar,Options> pinocchio::SE3Tpl< _Scalar, _Options >::cast ( ) const

inline

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

Definition at line 288 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

void pinocchio::SE3Tpl< _Scalar, _Options >::disp_impl ( std::ostream & os ) const

inline

Definition at line 198 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

static SE3Tpl pinocchio::SE3Tpl< _Scalar, _Options >::Identity ( )

inlinestatic

Definition at line 106 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

template<typename OtherScalar >

static SE3Tpl pinocchio::SE3Tpl< _Scalar, _Options >::Interpolate	(	const SE3Tpl< _Scalar, _Options > &	A,
		const SE3Tpl< _Scalar, _Options > &	B,
		const OtherScalar &	alpha
	)

static

Linear interpolation on the SE3 manifold.

Parameters

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

Returns: An interpolated transformation between A and B.

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

template<typename _Scalar, int _Options>

template<typename OtherScalar >

SE3Tpl<Scalar,Options> pinocchio::SE3Tpl< _Scalar, _Options >::Interpolate	(	const SE3Tpl< _Scalar, _Options > &	A,
		const SE3Tpl< _Scalar, _Options > &	B,
		const OtherScalar &	alpha
	)

Definition at line 546 of file src/spatial/explog.hpp.

template<typename _Scalar, int _Options>

SE3Tpl pinocchio::SE3Tpl< _Scalar, _Options >::inverse ( ) const

inline

aXb = bXa.inverse()

Definition at line 115 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

template<int O2>

bool pinocchio::SE3Tpl< _Scalar, _Options >::isApprox_impl	(	const SE3Tpl< Scalar, O2 > &	m2,
		const Scalar &	prec = `Eigen::NumTraits<Scalar>::dummy_precision()`
	)		const

inline

Definition at line 267 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

template<int O2>

bool pinocchio::SE3Tpl< _Scalar, _Options >::isEqual ( const SE3Tpl< Scalar, O2 > & m2 ) const

inline

Definition at line 261 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

bool pinocchio::SE3Tpl< _Scalar, _Options >::isIdentity ( const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision() ) const

inline

Definition at line 274 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

bool pinocchio::SE3Tpl< _Scalar, _Options >::isNormalized ( const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision() ) const

inline

Definition at line 300 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

void pinocchio::SE3Tpl< _Scalar, _Options >::normalize ( )

inline

Definition at line 305 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

PlainType pinocchio::SE3Tpl< _Scalar, _Options >::normalized ( ) const

inline

Definition at line 310 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

template<int O2>

SE3Tpl& pinocchio::SE3Tpl< _Scalar, _Options >::operator= ( const SE3Tpl< Scalar, O2 > & other )

inline

Definition at line 99 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW pinocchio::SE3Tpl< _Scalar, _Options >::PINOCCHIO_SE3_TYPEDEF_TPL ( SE3Tpl< _Scalar, _Options > )

template<typename _Scalar, int _Options>

static SE3Tpl pinocchio::SE3Tpl< _Scalar, _Options >::Random ( )

inlinestatic

Definition at line 120 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

ConstAngularRef pinocchio::SE3Tpl< _Scalar, _Options >::rotation_impl ( ) const

inline

Definition at line 279 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

AngularRef pinocchio::SE3Tpl< _Scalar, _Options >::rotation_impl ( )

inline

Definition at line 280 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

void pinocchio::SE3Tpl< _Scalar, _Options >::rotation_impl ( const AngularType & R )

inline

Definition at line 281 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

SE3Tpl& pinocchio::SE3Tpl< _Scalar, _Options >::setIdentity ( )

inline

Definition at line 111 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

SE3Tpl& pinocchio::SE3Tpl< _Scalar, _Options >::setRandom ( )

inline

Definition at line 125 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

ActionMatrixType pinocchio::SE3Tpl< _Scalar, _Options >::toActionMatrix_impl ( ) const

inline

Vb.toVector() = bXa.toMatrix() * Va.toVector()

Definition at line 145 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

ActionMatrixType pinocchio::SE3Tpl< _Scalar, _Options >::toActionMatrixInverse_impl ( ) const

inline

Definition at line 160 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

ActionMatrixType pinocchio::SE3Tpl< _Scalar, _Options >::toDualActionMatrix_impl ( ) const

inline

Definition at line 183 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

HomogeneousMatrixType pinocchio::SE3Tpl< _Scalar, _Options >::toHomogeneousMatrix_impl ( ) const

inline

Definition at line 134 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

ConstLinearRef pinocchio::SE3Tpl< _Scalar, _Options >::translation_impl ( ) const

inline

Definition at line 282 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

LinearRef pinocchio::SE3Tpl< _Scalar, _Options >::translation_impl ( )

inline

Definition at line 283 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

void pinocchio::SE3Tpl< _Scalar, _Options >::translation_impl ( const LinearType & p )

inline

Definition at line 284 of file spatial/se3-tpl.hpp.

Member Data Documentation

template<typename _Scalar, int _Options>

AngularType pinocchio::SE3Tpl< _Scalar, _Options >::rot

protected

Definition at line 331 of file spatial/se3-tpl.hpp.

template<typename _Scalar, int _Options>

LinearType pinocchio::SE3Tpl< _Scalar, _Options >::trans

protected

Definition at line 332 of file spatial/se3-tpl.hpp.

The documentation for this struct was generated from the following files:

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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