Public Types | Public Member Functions | Static Public Member Functions | List of all members
pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options > Struct Template Reference

SE(3) More...

#include <special-euclidean.hpp>

Inheritance diagram for pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >:
Inheritance graph
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Public Types

typedef Eigen::Map< const Quaternion_t > ConstQuaternionMap_t
 
typedef Eigen::Quaternion< Scalar, Options > Quaternion_t
 
typedef Eigen::Map< Quaternion_t > QuaternionMap_t
 
typedef CartesianProductOperation< VectorSpaceOperationTpl< 3, Scalar, Options >, SpecialOrthogonalOperationTpl< 3, Scalar, Options > > R3crossSO3_t
 
typedef Eigen::NumTraits< Scalar >::Real RealScalar
 
typedef SE3Tpl< Scalar, Options > SE3
 
typedef SE3Tpl< Scalar, Options > Transformation_t
 
- Public Types inherited from pinocchio::LieGroupBase< SpecialEuclideanOperationTpl< 3, _Scalar, _Options > >
enum  
 
typedef Eigen::Matrix< Scalar, NQ, 1, Options > ConfigVector_t
 
typedef int Index
 
typedef Eigen::Matrix< Scalar, NV, NV, Options > JacobianMatrix_t
 
typedef SpecialEuclideanOperationTpl< 3, _Scalar, _Options > LieGroupDerived
 
typedef traits< LieGroupDerived >::Scalar Scalar
 
typedef Eigen::Matrix< Scalar, NV, 1, Options > TangentVector_t
 

Public Member Functions

template<ArgumentPosition arg, class ConfigL_t , class ConfigR_t , class JacobianOut_t >
void dDifference_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< JacobianOut_t > &J) const
 $ \frac{\partial\ominus}{\partial q_1} {}^1X_0 = - \frac{\partial\ominus}{\partial q_0} $ More...
 
template<class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >
void dIntegrateTransport_dq_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &J_out) const
 
template<class Config_t , class Tangent_t , class Jacobian_t >
void dIntegrateTransport_dq_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< Jacobian_t > &J_out) const
 
template<class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >
void dIntegrateTransport_dv_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &J_out) const
 
template<class Config_t , class Tangent_t , class Jacobian_t >
void dIntegrateTransport_dv_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< Jacobian_t > &J_out) const
 
 PINOCCHIO_LIE_GROUP_TPL_PUBLIC_INTERFACE (SpecialEuclideanOperationTpl)
 
template<class Config_t >
void random_impl (const Eigen::MatrixBase< Config_t > &qout) const
 
template<class ConfigL_t , class ConfigR_t , class ConfigOut_t >
void randomConfiguration_impl (const Eigen::MatrixBase< ConfigL_t > &lower, const Eigen::MatrixBase< ConfigR_t > &upper, const Eigen::MatrixBase< ConfigOut_t > &qout) const
 
- Public Member Functions inherited from pinocchio::LieGroupBase< SpecialEuclideanOperationTpl< 3, _Scalar, _Options > >
void integrate (const Eigen::MatrixBase< ConfigIn_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< ConfigOut_t > &qout) const
 Integrate a joint's configuration with a tangent vector during one unit time duration. More...
 
void integrateCoeffWiseJacobian (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Jacobian_t > &J) const
 Computes the Jacobian of the integrate operator around zero. More...
 
void dIntegrate (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, AssignmentOperatorType op=SETTO) const
 Computes the Jacobian of a small variation of the configuration vector or the tangent vector into tangent space at identity. More...
 
void dIntegrate (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO) const
 Computes the Jacobian of a small variation of the configuration vector or the tangent vector into tangent space at identity. More...
 
void dIntegrate_dq (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const AssignmentOperatorType op=SETTO) const
 Computes the Jacobian of a small variation of the configuration vector into tangent space at identity. More...
 
void dIntegrate_dq (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &Jin, int self, const Eigen::MatrixBase< JacobianOut_t > &Jout, const AssignmentOperatorType op=SETTO) const
 
void dIntegrate_dq (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, int self, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout, const AssignmentOperatorType op=SETTO) const
 
void dIntegrate_dv (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const AssignmentOperatorType op=SETTO) const
 Computes the Jacobian of a small variation of the tangent vector into tangent space at identity. More...
 
void dIntegrate_dv (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, int self, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout, const AssignmentOperatorType op=SETTO) const
 
void dIntegrate_dv (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &Jin, int self, const Eigen::MatrixBase< JacobianOut_t > &Jout, const AssignmentOperatorType op=SETTO) const
 
void dIntegrateTransport (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout, const ArgumentPosition arg) const
 Transport a matrix from the terminal to the originate tangent space of the integrate operation, with respect to the configuration or the velocity arguments. More...
 
void dIntegrateTransport (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< Jacobian_t > &J, const ArgumentPosition arg) const
 Transport in place a matrix from the terminal to the originate tangent space of the integrate operation, with respect to the configuration or the velocity arguments. More...
 
void dIntegrateTransport_dq (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout) const
 Transport a matrix from the terminal to the originate tangent space of the integrate operation, with respect to the configuration argument. More...
 
void dIntegrateTransport_dq (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< Jacobian_t > &J) const
 Transport in place a matrix from the terminal to the originate tangent space of the integrate operation, with respect to the configuration argument. More...
 
void dIntegrateTransport_dv (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout) const
 Transport a matrix from the terminal to the originate tangent space of the integrate operation, with respect to the velocity argument. More...
 
void dIntegrateTransport_dv (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< Jacobian_t > &J) const
 Transport in place a matrix from the terminal to the originate tangent space of the integrate operation, with respect to the velocity argument. More...
 
void interpolate (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &u, const Eigen::MatrixBase< ConfigOut_t > &qout) const
 Interpolation between two joint's configurations. More...
 
void normalize (const Eigen::MatrixBase< Config_t > &qout) const
 Normalize the joint configuration given as input. For instance, the quaternion must be unitary. More...
 
bool isNormalized (const Eigen::MatrixBase< Config_t > &qin, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
 Check whether the input joint configuration is normalized. For instance, the quaternion must be unitary. More...
 
void random (const Eigen::MatrixBase< Config_t > &qout) const
 Generate a random joint configuration, normalizing quaternions when necessary. More...
 
void randomConfiguration (const Eigen::MatrixBase< ConfigL_t > &lower_pos_limit, const Eigen::MatrixBase< ConfigR_t > &upper_pos_limit, const Eigen::MatrixBase< ConfigOut_t > &qout) const
 Generate a configuration vector uniformly sampled among provided limits. More...
 
void difference (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< Tangent_t > &v) const
 Computes the tangent vector that must be integrated during one unit time to go from q0 to q1. More...
 
void dDifference (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< JacobianOut_t > &J) const
 Computes the Jacobian of the difference operation with respect to q0 or q1. More...
 
void dDifference (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< JacobianOut_t > &J, const ArgumentPosition arg) const
 Computes the Jacobian of the difference operation with respect to q0 or q1. More...
 
void dDifference (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< JacobianIn_t > &Jin, int self, const Eigen::MatrixBase< JacobianOut_t > &Jout, const AssignmentOperatorType op=SETTO) const
 
void dDifference (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, int self, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout, const AssignmentOperatorType op=SETTO) const
 
Scalar squaredDistance (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const
 Squared distance between two joint configurations. More...
 
Scalar distance (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const
 Distance between two configurations of the joint. More...
 
bool isSameConfiguration (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
 Check if two configurations are equivalent within the given precision. More...
 
bool operator== (const LieGroupBase &other) const
 
bool operator!= (const LieGroupBase &other) const
 
ConfigVector_t integrate (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v) const
 
ConfigVector_t interpolate (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &u) const
 
ConfigVector_t random () const
 
ConfigVector_t randomConfiguration (const Eigen::MatrixBase< ConfigL_t > &lower_pos_limit, const Eigen::MatrixBase< ConfigR_t > &upper_pos_limit) const
 
TangentVector_t difference (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const
 
void dIntegrate_product_impl (const Config_t &q, const Tangent_t &v, const JacobianIn_t &Jin, JacobianOut_t &Jout, bool dIntegrateOnTheLeft, const ArgumentPosition arg, const AssignmentOperatorType op) const
 
void dDifference_product_impl (const ConfigL_t &q0, const ConfigR_t &q1, const JacobianIn_t &Jin, JacobianOut_t &Jout, bool dDifferenceOnTheLeft, const AssignmentOperatorType op) const
 
void interpolate_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &u, const Eigen::MatrixBase< ConfigOut_t > &qout) const
 
void normalize_impl (const Eigen::MatrixBase< Config_t > &qout) const
 
bool isNormalized_impl (const Eigen::MatrixBase< Config_t > &qin, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
 
Scalar squaredDistance_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const
 
bool isSameConfiguration_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &prec) const
 
bool isEqual_impl (const LieGroupBase &) const
 Default equality check. By default, two LieGroupBase of same type are considered equal. More...
 
bool isDifferent_impl (const LieGroupBase &other) const
 
Index nq () const
 
Index nv () const
 Get dimension of Lie Group tangent space. More...
 
ConfigVector_t neutral () const
 Get neutral element as a vector. More...
 
std::string name () const
 Get name of instance. More...
 
SpecialEuclideanOperationTpl< 3, _Scalar, _Options > & derived ()
 
const SpecialEuclideanOperationTpl< 3, _Scalar, _Options > & derived () const
 

Static Public Member Functions

template<class ConfigL_t , class ConfigR_t , class Tangent_t >
static void difference_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< Tangent_t > &d)
 
template<class Config_t , class Tangent_t , class JacobianOut_t >
static void dIntegrate_dq_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const AssignmentOperatorType op=SETTO)
 
template<class Config_t , class Tangent_t , class JacobianOut_t >
static void dIntegrate_dv_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const AssignmentOperatorType op=SETTO)
 
template<class ConfigIn_t , class Velocity_t , class ConfigOut_t >
static void integrate_impl (const Eigen::MatrixBase< ConfigIn_t > &q, const Eigen::MatrixBase< Velocity_t > &v, const Eigen::MatrixBase< ConfigOut_t > &qout)
 
template<class Config_t , class Jacobian_t >
static void integrateCoeffWiseJacobian_impl (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Jacobian_t > &J)
 
template<class Config_t >
static bool isNormalized_impl (const Eigen::MatrixBase< Config_t > &qin, const Scalar &prec)
 
template<class ConfigL_t , class ConfigR_t >
static bool isSameConfiguration_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &prec)
 
static std::string name ()
 
static ConfigVector_t neutral ()
 
template<class Config_t >
static void normalize_impl (const Eigen::MatrixBase< Config_t > &qout)
 
static Index nq ()
 
static Index nv ()
 Get dimension of Lie Group tangent space. More...
 
template<class ConfigL_t , class ConfigR_t >
static Scalar squaredDistance_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1)
 

Additional Inherited Members

- Protected Member Functions inherited from pinocchio::LieGroupBase< SpecialEuclideanOperationTpl< 3, _Scalar, _Options > >
 LieGroupBase ()
 
 LieGroupBase (const LieGroupBase &)
 

Detailed Description

template<typename _Scalar, int _Options>
struct pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >

SE(3)

Definition at line 498 of file special-euclidean.hpp.

Member Typedef Documentation

template<typename _Scalar , int _Options>
typedef Eigen::Map<const Quaternion_t> pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >::ConstQuaternionMap_t

Definition at line 507 of file special-euclidean.hpp.

template<typename _Scalar , int _Options>
typedef Eigen::Quaternion<Scalar,Options> pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >::Quaternion_t

Definition at line 505 of file special-euclidean.hpp.

template<typename _Scalar , int _Options>
typedef Eigen::Map< Quaternion_t> pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >::QuaternionMap_t

Definition at line 506 of file special-euclidean.hpp.

template<typename _Scalar , int _Options>
typedef CartesianProductOperation<VectorSpaceOperationTpl<3,Scalar,Options>, SpecialOrthogonalOperationTpl<3,Scalar,Options> > pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >::R3crossSO3_t

Definition at line 503 of file special-euclidean.hpp.

template<typename _Scalar , int _Options>
typedef Eigen::NumTraits<Scalar>::Real pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >::RealScalar

Definition at line 510 of file special-euclidean.hpp.

template<typename _Scalar , int _Options>
typedef SE3Tpl<Scalar,Options> pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >::SE3

Definition at line 509 of file special-euclidean.hpp.

template<typename _Scalar , int _Options>
typedef SE3Tpl<Scalar,Options> pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >::Transformation_t

Definition at line 508 of file special-euclidean.hpp.

Member Function Documentation

template<typename _Scalar , int _Options>
template<ArgumentPosition arg, class ConfigL_t , class ConfigR_t , class JacobianOut_t >
void pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >::dDifference_impl ( const Eigen::MatrixBase< ConfigL_t > &  q0,
const Eigen::MatrixBase< ConfigR_t > &  q1,
const Eigen::MatrixBase< JacobianOut_t > &  J 
) const
inline

$ \frac{\partial\ominus}{\partial q_1} {}^1X_0 = - \frac{\partial\ominus}{\partial q_0} $

Definition at line 554 of file special-euclidean.hpp.

template<typename _Scalar , int _Options>
template<class ConfigL_t , class ConfigR_t , class Tangent_t >
static void pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >::difference_impl ( const Eigen::MatrixBase< ConfigL_t > &  q0,
const Eigen::MatrixBase< ConfigR_t > &  q1,
const Eigen::MatrixBase< Tangent_t > &  d 
)
inlinestatic

Definition at line 538 of file special-euclidean.hpp.

template<typename _Scalar , int _Options>
template<class Config_t , class Tangent_t , class JacobianOut_t >
static void pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >::dIntegrate_dq_impl ( const Eigen::MatrixBase< Config_t > &  ,
const Eigen::MatrixBase< Tangent_t > &  v,
const Eigen::MatrixBase< JacobianOut_t > &  J,
const AssignmentOperatorType  op = SETTO 
)
inlinestatic

Definition at line 660 of file special-euclidean.hpp.

template<typename _Scalar , int _Options>
template<class Config_t , class Tangent_t , class JacobianOut_t >
static void pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >::dIntegrate_dv_impl ( const Eigen::MatrixBase< Config_t > &  ,
const Eigen::MatrixBase< Tangent_t > &  v,
const Eigen::MatrixBase< JacobianOut_t > &  J,
const AssignmentOperatorType  op = SETTO 
)
inlinestatic

Definition at line 685 of file special-euclidean.hpp.

template<typename _Scalar , int _Options>
template<class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >
void pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >::dIntegrateTransport_dq_impl ( const Eigen::MatrixBase< Config_t > &  ,
const Eigen::MatrixBase< Tangent_t > &  v,
const Eigen::MatrixBase< JacobianIn_t > &  Jin,
const Eigen::MatrixBase< JacobianOut_t > &  J_out 
) const
inline

Definition at line 708 of file special-euclidean.hpp.

template<typename _Scalar , int _Options>
template<class Config_t , class Tangent_t , class Jacobian_t >
void pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >::dIntegrateTransport_dq_impl ( const Eigen::MatrixBase< Config_t > &  ,
const Eigen::MatrixBase< Tangent_t > &  v,
const Eigen::MatrixBase< Jacobian_t > &  J_out 
) const
inline

Definition at line 745 of file special-euclidean.hpp.

template<typename _Scalar , int _Options>
template<class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >
void pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >::dIntegrateTransport_dv_impl ( const Eigen::MatrixBase< Config_t > &  ,
const Eigen::MatrixBase< Tangent_t > &  v,
const Eigen::MatrixBase< JacobianIn_t > &  Jin,
const Eigen::MatrixBase< JacobianOut_t > &  J_out 
) const
inline

Definition at line 726 of file special-euclidean.hpp.

template<typename _Scalar , int _Options>
template<class Config_t , class Tangent_t , class Jacobian_t >
void pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >::dIntegrateTransport_dv_impl ( const Eigen::MatrixBase< Config_t > &  ,
const Eigen::MatrixBase< Tangent_t > &  v,
const Eigen::MatrixBase< Jacobian_t > &  J_out 
) const
inline

Definition at line 763 of file special-euclidean.hpp.

template<typename _Scalar , int _Options>
template<class ConfigIn_t , class Velocity_t , class ConfigOut_t >
static void pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >::integrate_impl ( const Eigen::MatrixBase< ConfigIn_t > &  q,
const Eigen::MatrixBase< Velocity_t > &  v,
const Eigen::MatrixBase< ConfigOut_t > &  qout 
)
inlinestatic

Definition at line 590 of file special-euclidean.hpp.

template<typename _Scalar , int _Options>
template<class Config_t , class Jacobian_t >
static void pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >::integrateCoeffWiseJacobian_impl ( const Eigen::MatrixBase< Config_t > &  q,
const Eigen::MatrixBase< Jacobian_t > &  J 
)
inlinestatic

Definition at line 622 of file special-euclidean.hpp.

template<typename _Scalar , int _Options>
template<class Config_t >
static bool pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >::isNormalized_impl ( const Eigen::MatrixBase< Config_t > &  qin,
const Scalar &  prec 
)
inlinestatic

Definition at line 796 of file special-euclidean.hpp.

template<typename _Scalar , int _Options>
template<class ConfigL_t , class ConfigR_t >
static bool pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >::isSameConfiguration_impl ( const Eigen::MatrixBase< ConfigL_t > &  q0,
const Eigen::MatrixBase< ConfigR_t > &  q1,
const Scalar &  prec 
)
inlinestatic

Definition at line 820 of file special-euclidean.hpp.

template<typename _Scalar , int _Options>
static std::string pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >::name ( )
inlinestatic

Definition at line 532 of file special-euclidean.hpp.

template<typename _Scalar , int _Options>
static ConfigVector_t pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >::neutral ( )
inlinestatic

Definition at line 526 of file special-euclidean.hpp.

template<typename _Scalar , int _Options>
template<class Config_t >
static void pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >::normalize_impl ( const Eigen::MatrixBase< Config_t > &  qout)
inlinestatic

Definition at line 789 of file special-euclidean.hpp.

template<typename _Scalar , int _Options>
static Index pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >::nq ( )
inlinestatic

Get dimension of Lie Group vector representation

For instance, for SO(3), the dimension of the vector representation is 4 (quaternion) while the dimension of the tangent space is 3.

Definition at line 516 of file special-euclidean.hpp.

template<typename _Scalar , int _Options>
static Index pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >::nv ( )
inlinestatic

Get dimension of Lie Group tangent space.

Definition at line 521 of file special-euclidean.hpp.

template<typename _Scalar , int _Options>
pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >::PINOCCHIO_LIE_GROUP_TPL_PUBLIC_INTERFACE ( SpecialEuclideanOperationTpl< 3, _Scalar, _Options >  )
template<typename _Scalar , int _Options>
template<class Config_t >
void pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >::random_impl ( const Eigen::MatrixBase< Config_t > &  qout) const
inline

Definition at line 805 of file special-euclidean.hpp.

template<typename _Scalar , int _Options>
template<class ConfigL_t , class ConfigR_t , class ConfigOut_t >
void pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >::randomConfiguration_impl ( const Eigen::MatrixBase< ConfigL_t > &  lower,
const Eigen::MatrixBase< ConfigR_t > &  upper,
const Eigen::MatrixBase< ConfigOut_t > &  qout 
) const
inline

Definition at line 811 of file special-euclidean.hpp.

template<typename _Scalar , int _Options>
template<class ConfigL_t , class ConfigR_t >
static Scalar pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >::squaredDistance_impl ( const Eigen::MatrixBase< ConfigL_t > &  q0,
const Eigen::MatrixBase< ConfigR_t > &  q1 
)
inlinestatic

Definition at line 780 of file special-euclidean.hpp.

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

pinocchio
Author(s):
autogenerated on Tue Jun 1 2021 02:45:06