#include <cartesian-product.hpp>

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 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_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_dv_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 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 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

Detailed Description

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

Definition at line 40 of file cartesian-product.hpp.

Constructor & Destructor Documentation

◆ CartesianProductOperation()

template<typename LieGroup1 , typename LieGroup2 >

pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >::CartesianProductOperation ( )

inline

Definition at line 62 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 109 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 99 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 145 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 169 of file cartesian-product.hpp.

◆ dIntegrateTransport_dq_impl() [1/2]

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 227 of file cartesian-product.hpp.

◆ dIntegrateTransport_dq_impl() [2/2]

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 193 of file cartesian-product.hpp.

◆ dIntegrateTransport_dv_impl() [1/2]

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 238 of file cartesian-product.hpp.

◆ dIntegrateTransport_dv_impl() [2/2]

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 210 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 122 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 132 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 295 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 263 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 286 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 367 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 373 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 379 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 385 of file cartesian-product.hpp.

◆ name()

template<typename LieGroup1 , typename LieGroup2 >

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

inline

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

◆ neutral()

template<typename LieGroup1 , typename LieGroup2 >

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

inline

Definition at line 82 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 256 of file cartesian-product.hpp.

◆ nq()

template<typename LieGroup1 , typename LieGroup2 >

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

inline

Definition at line 71 of file cartesian-product.hpp.

◆ nv()

template<typename LieGroup1 , typename LieGroup2 >

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

inline

Definition at line 77 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 314 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 320 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 339 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 346 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 269 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 276 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 249 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 326 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 332 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 353 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 360 of file cartesian-product.hpp.

Member Data Documentation

◆ lg1

template<typename LieGroup1 , typename LieGroup2 >

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

Definition at line 300 of file cartesian-product.hpp.

◆ lg2

template<typename LieGroup1 , typename LieGroup2 >

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

Definition at line 301 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

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 >