pinocchio::LogCholeskyParametersTpl< _Scalar, _Options > Struct Template Reference

A structure representing log Cholesky parameters. More...

#include <fwd.hpp>

Public Types
enum	{ Options = _Options }
typedef Eigen::Matrix< Scalar, 10, 10, Options >	Matrix10
typedef PseudoInertiaTpl< Scalar, Options >	PseudoInertia
typedef _Scalar	Scalar
typedef Eigen::Matrix< Scalar, 10, 1, Options >	Vector10

Public Member Functions
Matrix10	calculateJacobian () const
	Calculates the Jacobian of the log Cholesky parameters. More...
template<typename NewScalar >
LogCholeskyParametersTpl< NewScalar, Options >	cast () const
void	disp_impl (std::ostream &os) const
	LogCholeskyParametersTpl (const Vector10 &log_cholesky)
	Constructor for LogCholeskyParametersTpl. More...
Vector10	toDynamicParameters () const
	Converts the LogCholeskyParametersTpl object to dynamic parameters. More...
InertiaTpl< Scalar, Options >	toInertia () const
	Converts the LogCholeskyParametersTpl object to an InertiaTpl object. More...
PseudoInertia	toPseudoInertia () const
	Converts the LogCholeskyParametersTpl object to a PseudoInertiaTpl object. More...

Public Attributes
Vector10	parameters
	10-dimensional vector of log Cholesky parameters More...

Friends
std::ostream &	operator<< (std::ostream &os, const LogCholeskyParametersTpl &lcp)

Detailed Description

template<typename _Scalar, int _Options>
struct pinocchio::LogCholeskyParametersTpl< _Scalar, _Options >

A structure representing log Cholesky parameters.

References:

• Rucker, Caleb, and Patrick M. Wensing. "Smooth parameterization of rigid-body inertia." IEEE Robotics and Automation Letters 7.2 (2022): 2771-2778.

Definition at line 64 of file spatial/fwd.hpp.

Member Typedef Documentation

Matrix10

template<typename _Scalar , int _Options>

typedef Eigen::Matrix<Scalar, 10, 10, Options> pinocchio::LogCholeskyParametersTpl< _Scalar, _Options >::Matrix10

Definition at line 1110 of file spatial/inertia.hpp.

PseudoInertia

template<typename _Scalar , int _Options>

typedef PseudoInertiaTpl<Scalar, Options> pinocchio::LogCholeskyParametersTpl< _Scalar, _Options >::PseudoInertia

Definition at line 1111 of file spatial/inertia.hpp.

Scalar

template<typename _Scalar , int _Options>

typedef _Scalar pinocchio::LogCholeskyParametersTpl< _Scalar, _Options >::Scalar

Definition at line 1104 of file spatial/inertia.hpp.

Vector10

template<typename _Scalar , int _Options>

typedef Eigen::Matrix<Scalar, 10, 1, Options> pinocchio::LogCholeskyParametersTpl< _Scalar, _Options >::Vector10

Definition at line 1109 of file spatial/inertia.hpp.

Member Enumeration Documentation

anonymous enum

template<typename _Scalar , int _Options>

anonymous enum

Enumerator
Options

Definition at line 1105 of file spatial/inertia.hpp.

Constructor & Destructor Documentation

LogCholeskyParametersTpl()

template<typename _Scalar , int _Options>

pinocchio::LogCholeskyParametersTpl< _Scalar, _Options >::LogCholeskyParametersTpl ( const Vector10 &  log_cholesky )

inlineexplicit

Constructor for LogCholeskyParametersTpl.

Parameters

log_cholesky

A 10-dimensional vector of log Cholesky parameters.

Definition at line 1118 of file spatial/inertia.hpp.

Member Function Documentation

calculateJacobian()

template<typename _Scalar , int _Options>

Matrix10 pinocchio::LogCholeskyParametersTpl< _Scalar, _Options >::calculateJacobian ( ) const

inline

Calculates the Jacobian of the log Cholesky parameters.

Returns

A 10x10 matrix representing the Jacobian.

Definition at line 1191 of file spatial/inertia.hpp.

cast()

template<typename _Scalar , int _Options>

template<typename NewScalar >

LogCholeskyParametersTpl<NewScalar, Options> pinocchio::LogCholeskyParametersTpl< _Scalar, _Options >::cast ( ) const

inline

Returns

An expression of *this with the Scalar type casted to NewScalar.

Definition at line 1279 of file spatial/inertia.hpp.

disp_impl()

template<typename _Scalar , int _Options>

void pinocchio::LogCholeskyParametersTpl< _Scalar, _Options >::disp_impl ( std::ostream &  os ) const

inline

Definition at line 1284 of file spatial/inertia.hpp.

toDynamicParameters()

template<typename _Scalar , int _Options>

Vector10 pinocchio::LogCholeskyParametersTpl< _Scalar, _Options >::toDynamicParameters ( ) const

inline

Converts the LogCholeskyParametersTpl object to dynamic parameters.

Returns

A 10-dimensional vector of dynamic parameters.

Definition at line 1126 of file spatial/inertia.hpp.

toInertia()

template<typename _Scalar , int _Options>

InertiaTpl<Scalar, Options> pinocchio::LogCholeskyParametersTpl< _Scalar, _Options >::toInertia ( ) const

inline

Converts the LogCholeskyParametersTpl object to an InertiaTpl object.

Returns

An InertiaTpl object.

Definition at line 1181 of file spatial/inertia.hpp.

toPseudoInertia()

template<typename _Scalar , int _Options>

PseudoInertia pinocchio::LogCholeskyParametersTpl< _Scalar, _Options >::toPseudoInertia ( ) const

inline

Converts the LogCholeskyParametersTpl object to a PseudoInertiaTpl object.

Returns

A PseudoInertiaTpl object.

Definition at line 1171 of file spatial/inertia.hpp.

Friends And Related Function Documentation

operator<<

template<typename _Scalar , int _Options>

std::ostream& operator<< ( std::ostream &  os, const LogCholeskyParametersTpl< _Scalar, _Options > &  lcp  )

friend

Definition at line 1298 of file spatial/inertia.hpp.

Member Data Documentation

parameters

template<typename _Scalar , int _Options>

Vector10 pinocchio::LogCholeskyParametersTpl< _Scalar, _Options >::parameters

10-dimensional vector of log Cholesky parameters

Definition at line 1113 of file spatial/inertia.hpp.

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

• spatial/fwd.hpp
• spatial/inertia.hpp