Public Member Functions | Friends | List of all members
pinocchio::SE3Base< Derived > Struct Template Reference

Base class for rigid transformation. More...

#include <se3-base.hpp>

Public Member Functions

template<typename D >
SE3GroupAction< D >::ReturnType act (const D &d) const
 ay = aXb.act(by) More...
 
template<typename D >
SE3GroupAction< D >::ReturnType actInv (const D &d) const
 by = aXb.actInv(ay) More...
 
Derived & derived ()
 
const Derived & derived () const
 
void disp (std::ostream &os) const
 
bool isApprox (const Derived &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
 
bool isIdentity (const typename traits< Derived >::Scalar &prec=Eigen::NumTraits< typename traits< Derived >::Scalar >::dummy_precision()) const
 
bool isNormalized (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
 
void normalize ()
 Normalize *this in such a way the rotation part of *this lies on SO(3). More...
 
PlainType normalized () const
 
 operator ActionMatrixType () const
 
 operator HomogeneousMatrixType () const
 
bool operator!= (const Derived &other) const
 
SE3GroupAction< Derived >::ReturnType operator* (const Derived &m2) const
 
bool operator== (const Derived &other) const
 
 PINOCCHIO_SE3_TYPEDEF_TPL (Derived)
 
ConstAngularRef rotation () const
 
AngularRef rotation ()
 
void rotation (const AngularType &R)
 
ActionMatrixType toActionMatrix () const
 The action matrix $ {}^aX_b $ of $ {}^aM_b $. More...
 
ActionMatrixType toActionMatrixInverse () const
 The action matrix $ {}^bX_a $ of $ {}^aM_b $. More...
 
ActionMatrixType toDualActionMatrix () const
 
HomogeneousMatrixType toHomogeneousMatrix () const
 
ConstLinearRef translation () const
 
LinearRef translation ()
 
void translation (const LinearType &t)
 

Friends

std::ostream & operator<< (std::ostream &os, const SE3Base< Derived > &X)
 

Detailed Description

template<class Derived>
struct pinocchio::SE3Base< Derived >

Base class for rigid transformation.

The rigid transform aMb can be seen in two ways:

The rigid displacement is stored as a rotation matrix and translation vector by: $ ^aM_b x = {}^aR_b x + {}^aAB $ where $^aAB$ is the vector from origin A to origin B expressed in coordinates A.

$ {}^aM_c = {}^aM_b {}^bM_c $

Definition at line 30 of file se3-base.hpp.

Member Function Documentation

◆ act()

template<class Derived>
template<typename D >
SE3GroupAction<D>::ReturnType pinocchio::SE3Base< Derived >::act ( const D d) const
inline

ay = aXb.act(by)

Definition at line 90 of file se3-base.hpp.

◆ actInv()

template<class Derived>
template<typename D >
SE3GroupAction<D>::ReturnType pinocchio::SE3Base< Derived >::actInv ( const D d) const
inline

by = aXb.actInv(ay)

Definition at line 97 of file se3-base.hpp.

◆ derived() [1/2]

template<class Derived>
Derived& pinocchio::SE3Base< Derived >::derived ( )
inline

Definition at line 34 of file se3-base.hpp.

◆ derived() [2/2]

template<class Derived>
const Derived& pinocchio::SE3Base< Derived >::derived ( ) const
inline

Definition at line 35 of file se3-base.hpp.

◆ disp()

template<class Derived>
void pinocchio::SE3Base< Derived >::disp ( std::ostream &  os) const
inline

Definition at line 78 of file se3-base.hpp.

◆ isApprox()

template<class Derived>
bool pinocchio::SE3Base< Derived >::isApprox ( const Derived &  other,
const Scalar &  prec = Eigen::NumTraits<Scalar>::dummy_precision() 
) const
inline

Definition at line 108 of file se3-base.hpp.

◆ isIdentity()

template<class Derived>
bool pinocchio::SE3Base< Derived >::isIdentity ( const typename traits< Derived >::Scalar &  prec = Eigen::NumTraits<typename traits<Derived>::Scalar>::dummy_precision()) const
inline
Returns
true if *this is approximately equal to the identity placement, within the precision given by prec.

Definition at line 122 of file se3-base.hpp.

◆ isNormalized()

template<class Derived>
bool pinocchio::SE3Base< Derived >::isNormalized ( const Scalar &  prec = Eigen::NumTraits<Scalar>::dummy_precision()) const
inline
Returns
true if the rotational part of *this is a rotation matrix (normalized columns), within the precision given by prec.

Definition at line 130 of file se3-base.hpp.

◆ normalize()

template<class Derived>
void pinocchio::SE3Base< Derived >::normalize ( )
inline

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

Definition at line 138 of file se3-base.hpp.

◆ normalized()

template<class Derived>
PlainType pinocchio::SE3Base< Derived >::normalized ( ) const
inline
Returns
a Normalized version of *this, in such a way the rotation part of the returned transformation lies on SO(3).

Definition at line 146 of file se3-base.hpp.

◆ operator ActionMatrixType()

template<class Derived>
pinocchio::SE3Base< Derived >::operator ActionMatrixType ( ) const
inline

Definition at line 64 of file se3-base.hpp.

◆ operator HomogeneousMatrixType()

template<class Derived>
pinocchio::SE3Base< Derived >::operator HomogeneousMatrixType ( ) const
inline

Definition at line 48 of file se3-base.hpp.

◆ operator!=()

template<class Derived>
bool pinocchio::SE3Base< Derived >::operator!= ( const Derived &  other) const
inline

Definition at line 105 of file se3-base.hpp.

◆ operator*()

template<class Derived>
SE3GroupAction<Derived>::ReturnType pinocchio::SE3Base< Derived >::operator* ( const Derived &  m2) const
inline

Definition at line 84 of file se3-base.hpp.

◆ operator==()

template<class Derived>
bool pinocchio::SE3Base< Derived >::operator== ( const Derived &  other) const
inline

Definition at line 102 of file se3-base.hpp.

◆ PINOCCHIO_SE3_TYPEDEF_TPL()

template<class Derived>
pinocchio::SE3Base< Derived >::PINOCCHIO_SE3_TYPEDEF_TPL ( Derived  )

◆ rotation() [1/3]

template<class Derived>
ConstAngularRef pinocchio::SE3Base< Derived >::rotation ( ) const
inline

Definition at line 37 of file se3-base.hpp.

◆ rotation() [2/3]

template<class Derived>
AngularRef pinocchio::SE3Base< Derived >::rotation ( )
inline

Definition at line 39 of file se3-base.hpp.

◆ rotation() [3/3]

template<class Derived>
void pinocchio::SE3Base< Derived >::rotation ( const AngularType &  R)
inline

Definition at line 41 of file se3-base.hpp.

◆ toActionMatrix()

template<class Derived>
ActionMatrixType pinocchio::SE3Base< Derived >::toActionMatrix ( ) const
inline

The action matrix $ {}^aX_b $ of $ {}^aM_b $.

With $ {}^aM_b = \left( \begin{array}{cc} R & t \\ 0 & 1 \\ \end{array} \right) $,

\[ {}^aX_b = \left( \begin{array}{cc} R & \hat{t} R \\ 0 & R \\ \end{array} \right) \]

$ {}^a\nu_c = {}^aX_b {}^b\nu_c $

Definition at line 60 of file se3-base.hpp.

◆ toActionMatrixInverse()

template<class Derived>
ActionMatrixType pinocchio::SE3Base< Derived >::toActionMatrixInverse ( ) const
inline

The action matrix $ {}^bX_a $ of $ {}^aM_b $.

See also
toActionMatrix()

Definition at line 70 of file se3-base.hpp.

◆ toDualActionMatrix()

template<class Derived>
ActionMatrixType pinocchio::SE3Base< Derived >::toDualActionMatrix ( ) const
inline

Definition at line 75 of file se3-base.hpp.

◆ toHomogeneousMatrix()

template<class Derived>
HomogeneousMatrixType pinocchio::SE3Base< Derived >::toHomogeneousMatrix ( ) const
inline

Definition at line 44 of file se3-base.hpp.

◆ translation() [1/3]

template<class Derived>
ConstLinearRef pinocchio::SE3Base< Derived >::translation ( ) const
inline

Definition at line 38 of file se3-base.hpp.

◆ translation() [2/3]

template<class Derived>
LinearRef pinocchio::SE3Base< Derived >::translation ( )
inline

Definition at line 40 of file se3-base.hpp.

◆ translation() [3/3]

template<class Derived>
void pinocchio::SE3Base< Derived >::translation ( const LinearType &  t)
inline

Definition at line 42 of file se3-base.hpp.

Friends And Related Function Documentation

◆ operator<<

template<class Derived>
std::ostream& operator<< ( std::ostream &  os,
const SE3Base< Derived > &  X 
)
friend

Definition at line 113 of file se3-base.hpp.


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


pinocchio
Author(s):
autogenerated on Fri Jun 23 2023 02:38:35