Public Member Functions | Public Attributes | Private Member Functions | List of all members
pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 > Struct Template Reference

#include <cartesian-product.hpp>

Inheritance diagram for pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >:
Inheritance graph
[legend]

Public Member Functions

 CartesianProductOperation ()
 
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
 
template<class ConfigL_t , class ConfigR_t , class Tangent_t >
void difference_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< Tangent_t > &d) const
 
template<class Config_t , class Tangent_t , class JacobianOut_t >
void dIntegrate_dq_impl (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const AssignmentOperatorType op=SETTO) const
 
template<class Config_t , class Tangent_t , class JacobianOut_t >
void dIntegrate_dv_impl (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const AssignmentOperatorType op=SETTO) const
 
template<class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >
void dIntegrateTransport_dq_impl (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &J_in, 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 > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< Jacobian_t > &Jin) const
 
template<class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >
void dIntegrateTransport_dv_impl (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &J_in, 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 > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< Jacobian_t > &Jin) const
 
template<class ConfigIn_t , class Velocity_t , class ConfigOut_t >
void integrate_impl (const Eigen::MatrixBase< ConfigIn_t > &q, const Eigen::MatrixBase< Velocity_t > &v, const Eigen::MatrixBase< ConfigOut_t > &qout) const
 
template<class Config_t , class Jacobian_t >
void integrateCoeffWiseJacobian_impl (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Jacobian_t > &J) const
 
bool isEqual_impl (const CartesianProductOperation &other) const
 
template<class Config_t >
bool isNormalized_impl (const Eigen::MatrixBase< Config_t > &qin, const Scalar &prec) const
 
template<class ConfigL_t , class ConfigR_t >
bool isSameConfiguration_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &prec) const
 
std::string name () const
 
ConfigVector_t neutral () const
 
template<class Config_t >
void normalize_impl (const Eigen::MatrixBase< Config_t > &qout) const
 
Index nq () const
 
Index nv () const
 
 PINOCCHIO_LIE_GROUP_TPL_PUBLIC_INTERFACE (CartesianProductOperation)
 
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
 
template<class ConfigL_t , class ConfigR_t >
Scalar squaredDistance_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const
 
- Public Member Functions inherited from pinocchio::LieGroupBase< CartesianProductOperation< LieGroup1, LieGroup2 > >
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...
 
CartesianProductOperation< LieGroup1, LieGroup2 > & derived ()
 
const CartesianProductOperation< LieGroup1, LieGroup2 > & derived () const
 

Public Attributes

LieGroup1 lg1
 
LieGroup2 lg2
 

Private Member Functions

template<typename Jac >
Eigen::Block< Jac, LieGroup1::NV, LieGroup1::NV > J11 (const Eigen::MatrixBase< Jac > &J) const
 
template<typename Jac >
Eigen::Block< Jac, LieGroup1::NV, LieGroup2::NV > J12 (const Eigen::MatrixBase< Jac > &J) const
 
template<typename Jac >
Eigen::Block< Jac, LieGroup2::NV, LieGroup1::NV > J21 (const Eigen::MatrixBase< Jac > &J) const
 
template<typename Jac >
Eigen::Block< Jac, LieGroup2::NV, LieGroup2::NV > J22 (const Eigen::MatrixBase< Jac > &J) const
 
template<typename Config >
Config ::template ConstFixedSegmentReturnType< LieGroup1::NQ >::Type Q1 (const Eigen::MatrixBase< Config > &q) const
 
template<typename Config >
Config ::template ConstFixedSegmentReturnType< LieGroup2::NQ >::Type Q2 (const Eigen::MatrixBase< Config > &q) const
 
template<typename Config >
Config ::template FixedSegmentReturnType< LieGroup1::NQ >::Type Qo1 (const Eigen::MatrixBase< Config > &q) const
 
template<typename Config >
Config ::template FixedSegmentReturnType< LieGroup2::NQ >::Type Qo2 (const Eigen::MatrixBase< Config > &q) const
 
template<typename Tangent >
Tangent::template ConstFixedSegmentReturnType< LieGroup1::NV >::Type V1 (const Eigen::MatrixBase< Tangent > &v) const
 
template<typename Tangent >
Tangent::template ConstFixedSegmentReturnType< LieGroup2::NV >::Type V2 (const Eigen::MatrixBase< Tangent > &v) const
 
template<typename Tangent >
Tangent::template FixedSegmentReturnType< LieGroup1::NV >::Type Vo1 (const Eigen::MatrixBase< Tangent > &v) const
 
template<typename Tangent >
Tangent::template FixedSegmentReturnType< LieGroup2::NV >::Type Vo2 (const Eigen::MatrixBase< Tangent > &v) const
 

Additional Inherited Members

- Public Types inherited from pinocchio::LieGroupBase< CartesianProductOperation< LieGroup1, LieGroup2 > >
enum  
 
typedef Eigen::Matrix< Scalar, NQ, 1, OptionsConfigVector_t
 
typedef int Index
 
typedef Eigen::Matrix< Scalar, NV, NV, OptionsJacobianMatrix_t
 
typedef CartesianProductOperation< LieGroup1, LieGroup2 > LieGroupDerived
 
typedef traits< LieGroupDerived >::Scalar Scalar
 
typedef Eigen::Matrix< Scalar, NV, 1, OptionsTangentVector_t
 
- Protected Member Functions inherited from pinocchio::LieGroupBase< CartesianProductOperation< LieGroup1, LieGroup2 > >
 LieGroupBase ()
 
 LieGroupBase (const LieGroupBase &)
 
LieGroupBaseoperator= (const LieGroupBase &)
 

Detailed Description

template<typename LieGroup1, typename LieGroup2>
struct pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >

Definition at line 31 of file cartesian-product.hpp.

Constructor & Destructor Documentation

◆ CartesianProductOperation()

template<typename LieGroup1, typename LieGroup2>
pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::CartesianProductOperation ( )
inline

Definition at line 48 of file cartesian-product.hpp.

Member Function Documentation

◆ dDifference_impl()

template<typename LieGroup1, typename LieGroup2>
template<ArgumentPosition arg, class ConfigL_t , class ConfigR_t , class JacobianOut_t >
void pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::dDifference_impl ( const Eigen::MatrixBase< ConfigL_t > &  q0,
const Eigen::MatrixBase< ConfigR_t > &  q1,
const Eigen::MatrixBase< JacobianOut_t > &  J 
) const
inline

Definition at line 91 of file cartesian-product.hpp.

◆ difference_impl()

template<typename LieGroup1, typename LieGroup2>
template<class ConfigL_t , class ConfigR_t , class Tangent_t >
void pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::difference_impl ( const Eigen::MatrixBase< ConfigL_t > &  q0,
const Eigen::MatrixBase< ConfigR_t > &  q1,
const Eigen::MatrixBase< Tangent_t > &  d 
) const
inline

Definition at line 82 of file cartesian-product.hpp.

◆ dIntegrate_dq_impl()

template<typename LieGroup1, typename LieGroup2>
template<class Config_t , class Tangent_t , class JacobianOut_t >
void pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::dIntegrate_dq_impl ( const Eigen::MatrixBase< Config_t > &  q,
const Eigen::MatrixBase< Tangent_t > &  v,
const Eigen::MatrixBase< JacobianOut_t > &  J,
const AssignmentOperatorType  op = SETTO 
) const
inline

Definition at line 126 of file cartesian-product.hpp.

◆ dIntegrate_dv_impl()

template<typename LieGroup1, typename LieGroup2>
template<class Config_t , class Tangent_t , class JacobianOut_t >
void pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::dIntegrate_dv_impl ( const Eigen::MatrixBase< Config_t > &  q,
const Eigen::MatrixBase< Tangent_t > &  v,
const Eigen::MatrixBase< JacobianOut_t > &  J,
const AssignmentOperatorType  op = SETTO 
) const
inline

Definition at line 149 of file cartesian-product.hpp.

◆ dIntegrateTransport_dq_impl() [1/2]

template<typename LieGroup1, typename LieGroup2>
template<class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >
void pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::dIntegrateTransport_dq_impl ( const Eigen::MatrixBase< Config_t > &  q,
const Eigen::MatrixBase< Tangent_t > &  v,
const Eigen::MatrixBase< JacobianIn_t > &  J_in,
const Eigen::MatrixBase< JacobianOut_t > &  J_out 
) const
inline

Definition at line 172 of file cartesian-product.hpp.

◆ dIntegrateTransport_dq_impl() [2/2]

template<typename LieGroup1, typename LieGroup2>
template<class Config_t , class Tangent_t , class Jacobian_t >
void pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::dIntegrateTransport_dq_impl ( const Eigen::MatrixBase< Config_t > &  q,
const Eigen::MatrixBase< Tangent_t > &  v,
const Eigen::MatrixBase< Jacobian_t > &  Jin 
) const
inline

Definition at line 197 of file cartesian-product.hpp.

◆ dIntegrateTransport_dv_impl() [1/2]

template<typename LieGroup1, typename LieGroup2>
template<class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >
void pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::dIntegrateTransport_dv_impl ( const Eigen::MatrixBase< Config_t > &  q,
const Eigen::MatrixBase< Tangent_t > &  v,
const Eigen::MatrixBase< JacobianIn_t > &  J_in,
const Eigen::MatrixBase< JacobianOut_t > &  J_out 
) const
inline

Definition at line 184 of file cartesian-product.hpp.

◆ dIntegrateTransport_dv_impl() [2/2]

template<typename LieGroup1, typename LieGroup2>
template<class Config_t , class Tangent_t , class Jacobian_t >
void pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::dIntegrateTransport_dv_impl ( const Eigen::MatrixBase< Config_t > &  q,
const Eigen::MatrixBase< Tangent_t > &  v,
const Eigen::MatrixBase< Jacobian_t > &  Jin 
) const
inline

Definition at line 207 of file cartesian-product.hpp.

◆ integrate_impl()

template<typename LieGroup1, typename LieGroup2>
template<class ConfigIn_t , class Velocity_t , class ConfigOut_t >
void pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::integrate_impl ( const Eigen::MatrixBase< ConfigIn_t > &  q,
const Eigen::MatrixBase< Velocity_t > &  v,
const Eigen::MatrixBase< ConfigOut_t > &  qout 
) const
inline

Definition at line 103 of file cartesian-product.hpp.

◆ integrateCoeffWiseJacobian_impl()

template<typename LieGroup1, typename LieGroup2>
template<class Config_t , class Jacobian_t >
void pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::integrateCoeffWiseJacobian_impl ( const Eigen::MatrixBase< Config_t > &  q,
const Eigen::MatrixBase< Jacobian_t > &  J 
) const
inline

Definition at line 112 of file cartesian-product.hpp.

◆ isEqual_impl()

template<typename LieGroup1, typename LieGroup2>
bool pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::isEqual_impl ( const CartesianProductOperation< LieGroup1, LieGroup2 > &  other) const
inline

Definition at line 263 of file cartesian-product.hpp.

◆ isNormalized_impl()

template<typename LieGroup1, typename LieGroup2>
template<class Config_t >
bool pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::isNormalized_impl ( const Eigen::MatrixBase< Config_t > &  qin,
const Scalar prec 
) const
inline

Definition at line 232 of file cartesian-product.hpp.

◆ isSameConfiguration_impl()

template<typename LieGroup1, typename LieGroup2>
template<class ConfigL_t , class ConfigR_t >
bool pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::isSameConfiguration_impl ( const Eigen::MatrixBase< ConfigL_t > &  q0,
const Eigen::MatrixBase< ConfigR_t > &  q1,
const Scalar prec 
) const
inline

Definition at line 255 of file cartesian-product.hpp.

◆ J11()

template<typename LieGroup1, typename LieGroup2>
template<typename Jac >
Eigen::Block<Jac, LieGroup1::NV, LieGroup1::NV> pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::J11 ( const Eigen::MatrixBase< Jac > &  J) const
inlineprivate

Definition at line 290 of file cartesian-product.hpp.

◆ J12()

template<typename LieGroup1, typename LieGroup2>
template<typename Jac >
Eigen::Block<Jac, LieGroup1::NV, LieGroup2::NV> pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::J12 ( const Eigen::MatrixBase< Jac > &  J) const
inlineprivate

Definition at line 291 of file cartesian-product.hpp.

◆ J21()

template<typename LieGroup1, typename LieGroup2>
template<typename Jac >
Eigen::Block<Jac, LieGroup2::NV, LieGroup1::NV> pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::J21 ( const Eigen::MatrixBase< Jac > &  J) const
inlineprivate

Definition at line 292 of file cartesian-product.hpp.

◆ J22()

template<typename LieGroup1, typename LieGroup2>
template<typename Jac >
Eigen::Block<Jac, LieGroup2::NV, LieGroup2::NV> pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::J22 ( const Eigen::MatrixBase< Jac > &  J) const
inlineprivate

Definition at line 293 of file cartesian-product.hpp.

◆ name()

template<typename LieGroup1, typename LieGroup2>
std::string pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::name ( ) const
inline

Definition at line 75 of file cartesian-product.hpp.

◆ neutral()

template<typename LieGroup1, typename LieGroup2>
ConfigVector_t pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::neutral ( ) const
inline

Definition at line 66 of file cartesian-product.hpp.

◆ normalize_impl()

template<typename LieGroup1, typename LieGroup2>
template<class Config_t >
void pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::normalize_impl ( const Eigen::MatrixBase< Config_t > &  qout) const
inline

Definition at line 225 of file cartesian-product.hpp.

◆ nq()

template<typename LieGroup1, typename LieGroup2>
Index pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::nq ( ) const
inline

Definition at line 55 of file cartesian-product.hpp.

◆ nv()

template<typename LieGroup1, typename LieGroup2>
Index pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::nv ( ) const
inline

Definition at line 61 of file cartesian-product.hpp.

◆ PINOCCHIO_LIE_GROUP_TPL_PUBLIC_INTERFACE()

template<typename LieGroup1, typename LieGroup2>
pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::PINOCCHIO_LIE_GROUP_TPL_PUBLIC_INTERFACE ( CartesianProductOperation< LieGroup1, LieGroup2 >  )

◆ Q1()

template<typename LieGroup1, typename LieGroup2>
template<typename Config >
Config ::template ConstFixedSegmentReturnType<LieGroup1::NQ>::Type pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::Q1 ( const Eigen::MatrixBase< Config > &  q) const
inlineprivate

Definition at line 280 of file cartesian-product.hpp.

◆ Q2()

template<typename LieGroup1, typename LieGroup2>
template<typename Config >
Config ::template ConstFixedSegmentReturnType<LieGroup2::NQ>::Type pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::Q2 ( const Eigen::MatrixBase< Config > &  q) const
inlineprivate

Definition at line 281 of file cartesian-product.hpp.

◆ Qo1()

template<typename LieGroup1, typename LieGroup2>
template<typename Config >
Config ::template FixedSegmentReturnType<LieGroup1::NQ>::Type pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::Qo1 ( const Eigen::MatrixBase< Config > &  q) const
inlineprivate

Definition at line 285 of file cartesian-product.hpp.

◆ Qo2()

template<typename LieGroup1, typename LieGroup2>
template<typename Config >
Config ::template FixedSegmentReturnType<LieGroup2::NQ>::Type pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::Qo2 ( const Eigen::MatrixBase< Config > &  q) const
inlineprivate

Definition at line 286 of file cartesian-product.hpp.

◆ random_impl()

template<typename LieGroup1, typename LieGroup2>
template<class Config_t >
void pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::random_impl ( const Eigen::MatrixBase< Config_t > &  qout) const
inline

Definition at line 238 of file cartesian-product.hpp.

◆ randomConfiguration_impl()

template<typename LieGroup1, typename LieGroup2>
template<class ConfigL_t , class ConfigR_t , class ConfigOut_t >
void pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::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 245 of file cartesian-product.hpp.

◆ squaredDistance_impl()

template<typename LieGroup1, typename LieGroup2>
template<class ConfigL_t , class ConfigR_t >
Scalar pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::squaredDistance_impl ( const Eigen::MatrixBase< ConfigL_t > &  q0,
const Eigen::MatrixBase< ConfigR_t > &  q1 
) const
inline

Definition at line 217 of file cartesian-product.hpp.

◆ V1()

template<typename LieGroup1, typename LieGroup2>
template<typename Tangent >
Tangent::template ConstFixedSegmentReturnType<LieGroup1::NV>::Type pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::V1 ( const Eigen::MatrixBase< Tangent > &  v) const
inlineprivate

Definition at line 282 of file cartesian-product.hpp.

◆ V2()

template<typename LieGroup1, typename LieGroup2>
template<typename Tangent >
Tangent::template ConstFixedSegmentReturnType<LieGroup2::NV>::Type pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::V2 ( const Eigen::MatrixBase< Tangent > &  v) const
inlineprivate

Definition at line 283 of file cartesian-product.hpp.

◆ Vo1()

template<typename LieGroup1, typename LieGroup2>
template<typename Tangent >
Tangent::template FixedSegmentReturnType<LieGroup1::NV>::Type pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::Vo1 ( const Eigen::MatrixBase< Tangent > &  v) const
inlineprivate

Definition at line 287 of file cartesian-product.hpp.

◆ Vo2()

template<typename LieGroup1, typename LieGroup2>
template<typename Tangent >
Tangent::template FixedSegmentReturnType<LieGroup2::NV>::Type pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::Vo2 ( const Eigen::MatrixBase< Tangent > &  v) const
inlineprivate

Definition at line 288 of file cartesian-product.hpp.

Member Data Documentation

◆ lg1

template<typename LieGroup1, typename LieGroup2>
LieGroup1 pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::lg1

Definition at line 268 of file cartesian-product.hpp.

◆ lg2

template<typename LieGroup1, typename LieGroup2>
LieGroup2 pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::lg2

Definition at line 269 of file cartesian-product.hpp.


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


pinocchio
Author(s):
autogenerated on Fri Jun 23 2023 02:38:34