Dynamic Cartesian product composed of elementary Lie groups defined in LieGroupVariant. More...

#include <cartesian-product-variant.hpp>

Inheritance diagram for pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >:

Public Types
typedef LieGroupCollectionTpl< Scalar, Options >	LieGroupCollection

typedef LieGroupGenericTpl< LieGroupCollection >	LieGroupGeneric

typedef LieGroupCollection::LieGroupVariant	LieGroupVariant

Public Types inherited from pinocchio::LieGroupBase< CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl > >
enum

typedef Eigen::Matrix< Scalar, NQ, 1, Options >	ConfigVector_t

typedef int	Index

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

typedef CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >	LieGroupDerived

typedef traits< LieGroupDerived >::Scalar	Scalar

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

Public Member Functions
void	append (const LieGroupGeneric &lg)
	Append a Lie group to the Cartesian product. More...

template<typename LieGroupDerived >
void	append (const LieGroupBase< LieGroupDerived > &lg)
	Append a Lie group to the Cartesian product. More...

	CartesianProductOperationVariantTpl ()
	Default constructor. More...

	CartesianProductOperationVariantTpl (const LieGroupGeneric &lg)
	Constructor with one single Lie group. More...

	CartesianProductOperationVariantTpl (const LieGroupGeneric &lg1, const LieGroupGeneric &lg2)
	Constructor with two Lie groups. More...

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<ArgumentPosition arg, class ConfigL_t , class ConfigR_t , class JacobianIn_t , class JacobianOut_t >
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

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	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

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 JacobianOut_t >
void	dIntegrateTransport_dq_impl (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J) 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 JacobianOut_t >
void	dIntegrateTransport_dv_impl (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J) 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

template<typename LieGroup1 , typename LieGroup2 >
bool	isEqual (const CartesianProductOperation< LieGroup1, LieGroup2 > &other) const

bool	isEqual_impl (const CartesianProductOperationVariantTpl &other) const

template<class Config_t >
bool	isNormalized_impl (const Eigen::MatrixBase< Config_t > &qout, 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

int	nq () const

int	nv () const

CartesianProductOperationVariantTpl	operator* (const CartesianProductOperationVariantTpl &other) const
	Cartesian product between *this and other. More...

CartesianProductOperationVariantTpl &	operator*= (const CartesianProductOperationVariantTpl &other)
	Append other to *this. More...

CartesianProductOperationVariantTpl &	operator*= (const LieGroupGeneric &lg)
	Append a Lie group to *this. More...

template<typename LieGroupDerived >
CartesianProductOperationVariantTpl &	operator*= (const LieGroupBase< LieGroupDerived > &lg)
	Append a Lie group to *this. More...

EIGEN_MAKE_ALIGNED_OPERATOR_NEW	PINOCCHIO_LIE_GROUP_TPL_PUBLIC_INTERFACE (CartesianProductOperationVariantTpl)

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< CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl > >
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...

CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl > &	derived ()

const CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl > &	derived () const

Protected Member Functions
	PINOCCHIO_ALIGNED_STD_VECTOR (LieGroupGeneric) liegroups

Protected Member Functions inherited from pinocchio::LieGroupBase< CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl > >
	LieGroupBase ()

	LieGroupBase (const LieGroupBase &)

LieGroupBase &	operator= (const LieGroupBase &)

Protected Attributes
std::vector< Index >	lg_nqs

std::vector< Index >	lg_nvs

std::string	m_name

ConfigVector_t	m_neutral

Index	m_nq

Index	m_nv

Detailed Description

template<typename _Scalar, int _Options, template< typename, int > class LieGroupCollectionTpl>
struct pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >

Dynamic Cartesian product composed of elementary Lie groups defined in LieGroupVariant.

Definition at line 18 of file cartesian-product-variant.hpp.

Member Typedef Documentation

◆ LieGroupCollection

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

typedef LieGroupCollectionTpl<Scalar, Options> pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::LieGroupCollection

Definition at line 43 of file cartesian-product-variant.hpp.

◆ LieGroupGeneric

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

typedef LieGroupGenericTpl<LieGroupCollection> pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::LieGroupGeneric

Definition at line 45 of file cartesian-product-variant.hpp.

◆ LieGroupVariant

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

typedef LieGroupCollection::LieGroupVariant pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::LieGroupVariant

Definition at line 44 of file cartesian-product-variant.hpp.

Constructor & Destructor Documentation

◆ CartesianProductOperationVariantTpl() [1/3]

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::CartesianProductOperationVariantTpl ( )

inline

Default constructor.

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

◆ CartesianProductOperationVariantTpl() [2/3]

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::CartesianProductOperationVariantTpl ( const LieGroupGeneric & lg )

inlineexplicit

Constructor with one single Lie group.

Parameters

[in] lg Lie group variant to insert inside the Cartesian product

Definition at line 59 of file cartesian-product-variant.hpp.

◆ CartesianProductOperationVariantTpl() [3/3]

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::CartesianProductOperationVariantTpl	(	const LieGroupGeneric &	lg1,
		const LieGroupGeneric &	lg2
	)

inline

Constructor with two Lie groups.

Parameters

[in]	lg1	Lie group variant to insert inside the Cartesian product
[in]	lg2	Lie group variant to insert inside the Cartesian product

Definition at line 73 of file cartesian-product-variant.hpp.

Member Function Documentation

◆ append() [1/2]

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

void pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::append ( const LieGroupGeneric & lg )

Append a Lie group to the Cartesian product.

Parameters

[in] lg Lie group variant to insert inside the Cartesian product

◆ append() [2/2]

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

template<typename LieGroupDerived >

void pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::append ( const LieGroupBase< LieGroupDerived > & lg )

inline

Append a Lie group to the Cartesian product.

Parameters

[in] lg Lie group to insert inside the Cartesian product

Definition at line 95 of file cartesian-product-variant.hpp.

◆ dDifference_impl()

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

template<ArgumentPosition arg, class ConfigL_t , class ConfigR_t , class JacobianOut_t >

void pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::dDifference_impl	(	const Eigen::MatrixBase< ConfigL_t > &	q0,
		const Eigen::MatrixBase< ConfigR_t > &	q1,
		const Eigen::MatrixBase< JacobianOut_t > &	J
	)		const

◆ dDifference_product_impl()

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

template<ArgumentPosition arg, class ConfigL_t , class ConfigR_t , class JacobianIn_t , class JacobianOut_t >

void pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::dDifference_product_impl	(	const ConfigL_t &	q0,
		const ConfigR_t &	q1,
		const JacobianIn_t &	Jin,
		JacobianOut_t &	Jout,
		bool	dDifferenceOnTheLeft,
		const AssignmentOperatorType	op
	)		const

◆ difference_impl()

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

template<class ConfigL_t , class ConfigR_t , class Tangent_t >

void pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::difference_impl	(	const Eigen::MatrixBase< ConfigL_t > &	q0,
		const Eigen::MatrixBase< ConfigR_t > &	q1,
		const Eigen::MatrixBase< Tangent_t > &	d
	)		const

◆ dIntegrate_dq_impl()

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

template<class Config_t , class Tangent_t , class JacobianOut_t >

void pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::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

◆ dIntegrate_dv_impl()

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

template<class Config_t , class Tangent_t , class JacobianOut_t >

void pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::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

◆ dIntegrate_product_impl()

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

template<class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >

void pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::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

◆ dIntegrateTransport_dq_impl() [1/2]

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

template<class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >

void pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::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

◆ dIntegrateTransport_dq_impl() [2/2]

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

template<class Config_t , class Tangent_t , class JacobianOut_t >

void pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::dIntegrateTransport_dq_impl	(	const Eigen::MatrixBase< Config_t > &	q,
		const Eigen::MatrixBase< Tangent_t > &	v,
		const Eigen::MatrixBase< JacobianOut_t > &	J
	)		const

◆ dIntegrateTransport_dv_impl() [1/2]

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

template<class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >

void pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::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

◆ dIntegrateTransport_dv_impl() [2/2]

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

template<class Config_t , class Tangent_t , class JacobianOut_t >

void pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::dIntegrateTransport_dv_impl	(	const Eigen::MatrixBase< Config_t > &	q,
		const Eigen::MatrixBase< Tangent_t > &	v,
		const Eigen::MatrixBase< JacobianOut_t > &	J
	)		const

◆ integrate_impl()

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

template<class ConfigIn_t , class Velocity_t , class ConfigOut_t >

void pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::integrate_impl	(	const Eigen::MatrixBase< ConfigIn_t > &	q,
		const Eigen::MatrixBase< Velocity_t > &	v,
		const Eigen::MatrixBase< ConfigOut_t > &	qout
	)		const

◆ integrateCoeffWiseJacobian_impl()

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

template<class Config_t , class Jacobian_t >

void pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::integrateCoeffWiseJacobian_impl	(	const Eigen::MatrixBase< Config_t > &	q,
		const Eigen::MatrixBase< Jacobian_t > &	J
	)		const

◆ isEqual()

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

template<typename LieGroup1 , typename LieGroup2 >

bool pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::isEqual ( const CartesianProductOperation< LieGroup1, LieGroup2 > & other ) const

◆ isEqual_impl()

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

bool pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::isEqual_impl ( const CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl > & other ) const

◆ isNormalized_impl()

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

template<class Config_t >

bool pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::isNormalized_impl	(	const Eigen::MatrixBase< Config_t > &	qout,
		const Scalar &	prec
	)		const

◆ isSameConfiguration_impl()

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

template<class ConfigL_t , class ConfigR_t >

bool pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::isSameConfiguration_impl	(	const Eigen::MatrixBase< ConfigL_t > &	q0,
		const Eigen::MatrixBase< ConfigR_t > &	q1,
		const Scalar &	prec
	)		const

◆ name()

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

std::string pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::name ( ) const

inline

Definition at line 143 of file cartesian-product-variant.hpp.

◆ neutral()

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

ConfigVector_t pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::neutral ( ) const

inline

Definition at line 145 of file cartesian-product-variant.hpp.

◆ normalize_impl()

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

template<class Config_t >

void pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::normalize_impl ( const Eigen::MatrixBase< Config_t > & qout ) const

◆ nq()

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

int pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::nq ( ) const

inline

Definition at line 140 of file cartesian-product-variant.hpp.

◆ nv()

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

int pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::nv ( ) const

inline

Definition at line 141 of file cartesian-product-variant.hpp.

◆ operator*()

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

CartesianProductOperationVariantTpl pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::operator* ( const CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl > & other ) const

Cartesian product between *this and other.

Parameters

[in] other CartesianProductOperation to compose with this

Returns: A new Cartesian product betwenn *this and other.

◆ operator*=() [1/3]

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

CartesianProductOperationVariantTpl& pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::operator*= ( const CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl > & other )

Append other to *this.

Parameters

[in] other CartesianProductOperation to append to *this.

◆ operator*=() [2/3]

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

CartesianProductOperationVariantTpl& pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::operator*= ( const LieGroupGeneric & lg )

inline

Append a Lie group to *this.

Parameters

[in] lg LieGroupGeneric to append to *this.

Definition at line 122 of file cartesian-product-variant.hpp.

◆ operator*=() [3/3]

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

template<typename LieGroupDerived >

CartesianProductOperationVariantTpl& pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::operator*= ( const LieGroupBase< LieGroupDerived > & lg )

inline

Append a Lie group to *this.

Parameters

[in] lg LieGroupGeneric to append to *this.

Definition at line 134 of file cartesian-product-variant.hpp.

◆ PINOCCHIO_ALIGNED_STD_VECTOR()

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::PINOCCHIO_ALIGNED_STD_VECTOR ( LieGroupGeneric )

protected

◆ PINOCCHIO_LIE_GROUP_TPL_PUBLIC_INTERFACE()

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::PINOCCHIO_LIE_GROUP_TPL_PUBLIC_INTERFACE ( CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl > )

◆ random_impl()

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

template<class Config_t >

void pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::random_impl ( const Eigen::MatrixBase< Config_t > & qout ) const

◆ randomConfiguration_impl()

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

template<class ConfigL_t , class ConfigR_t , class ConfigOut_t >

void pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::randomConfiguration_impl	(	const Eigen::MatrixBase< ConfigL_t > &	lower,
		const Eigen::MatrixBase< ConfigR_t > &	upper,
		const Eigen::MatrixBase< ConfigOut_t > &	qout
	)		const

◆ squaredDistance_impl()

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

template<class ConfigL_t , class ConfigR_t >

Scalar pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::squaredDistance_impl	(	const Eigen::MatrixBase< ConfigL_t > &	q0,
		const Eigen::MatrixBase< ConfigR_t > &	q1
	)		const

Member Data Documentation

◆ lg_nqs

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

std::vector<Index> pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::lg_nqs

protected

Definition at line 250 of file cartesian-product-variant.hpp.

◆ lg_nvs

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

std::vector<Index> pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::lg_nvs

protected

Definition at line 250 of file cartesian-product-variant.hpp.

◆ m_name

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

std::string pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::m_name

protected

Definition at line 251 of file cartesian-product-variant.hpp.

◆ m_neutral

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

ConfigVector_t pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::m_neutral

protected

Definition at line 253 of file cartesian-product-variant.hpp.

◆ m_nq

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

Index pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::m_nq

protected

Definition at line 249 of file cartesian-product-variant.hpp.

◆ m_nv

template<typename _Scalar , int _Options, template< typename, int > class LieGroupCollectionTpl>

Index pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >::m_nv

protected

Definition at line 249 of file cartesian-product-variant.hpp.

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

cartesian-product-variant.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename _Scalar, int _Options, template< typename, int > class LieGroupCollectionTpl> struct pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >

Member Typedef Documentation

◆ LieGroupCollection

◆ LieGroupGeneric

◆ LieGroupVariant

Constructor & Destructor Documentation

◆ CartesianProductOperationVariantTpl() [1/3]

◆ CartesianProductOperationVariantTpl() [2/3]

◆ CartesianProductOperationVariantTpl() [3/3]

Member Function Documentation

◆ append() [1/2]

◆ append() [2/2]

◆ dDifference_impl()

◆ dDifference_product_impl()

◆ difference_impl()

◆ dIntegrate_dq_impl()

◆ dIntegrate_dv_impl()

◆ dIntegrate_product_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()

◆ isEqual_impl()

◆ isNormalized_impl()

◆ isSameConfiguration_impl()

◆ name()

◆ neutral()

◆ normalize_impl()

◆ nq()

◆ nv()

◆ operator*()

◆ operator*=() [1/3]

◆ operator*=() [2/3]

◆ operator*=() [3/3]

◆ PINOCCHIO_ALIGNED_STD_VECTOR()

◆ PINOCCHIO_LIE_GROUP_TPL_PUBLIC_INTERFACE()

◆ random_impl()

◆ randomConfiguration_impl()

◆ squaredDistance_impl()

Member Data Documentation

◆ lg_nqs

◆ lg_nvs

◆ m_name

◆ m_neutral

◆ m_nq

◆ m_nv

template<typename _Scalar, int _Options, template< typename, int > class LieGroupCollectionTpl>
struct pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >