#include <cartesian-product.hpp>

Inheritance diagram for pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >:

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, Options >	ConfigVector_t

typedef int	Index

typedef Eigen::Matrix< Scalar, NV, NV, Options >	JacobianMatrix_t

typedef CartesianProductOperation< LieGroup1, LieGroup2 >	LieGroupDerived

typedef traits< LieGroupDerived >::Scalar	Scalar

typedef Eigen::Matrix< Scalar, NV, 1, Options >	TangentVector_t

Protected Member Functions inherited from pinocchio::LieGroupBase< CartesianProductOperation< LieGroup1, LieGroup2 > >
	LieGroupBase ()

	LieGroupBase (const LieGroupBase &)

LieGroupBase &	operator= (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:

cartesian-product.hpp

Public Member Functions

Public Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

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

Constructor & Destructor Documentation

◆ CartesianProductOperation()

Member Function Documentation

◆ dDifference_impl()

◆ difference_impl()

◆ dIntegrate_dq_impl()

◆ dIntegrate_dv_impl()

◆ dIntegrateTransport_dq_impl() [1/2]

◆ dIntegrateTransport_dq_impl() [2/2]

◆ dIntegrateTransport_dv_impl() [1/2]

◆ dIntegrateTransport_dv_impl() [2/2]

◆ integrate_impl()

◆ integrateCoeffWiseJacobian_impl()

◆ isEqual_impl()

◆ isNormalized_impl()

◆ isSameConfiguration_impl()

◆ J11()

◆ J12()

◆ J21()

◆ J22()

◆ name()

◆ neutral()

◆ normalize_impl()

◆ nq()

◆ nv()

◆ PINOCCHIO_LIE_GROUP_TPL_PUBLIC_INTERFACE()

◆ Q1()

◆ Q2()

◆ Qo1()

◆ Qo2()

◆ random_impl()

◆ randomConfiguration_impl()

◆ squaredDistance_impl()

◆ V1()

◆ V2()

◆ Vo1()

◆ Vo2()

Member Data Documentation

◆ lg1

◆ lg2

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