#include <casadi.hpp>

Public Types
typedef SE3Base< SE3Tpl< _Scalar, _Options > >	Base

typedef traits< SE3Tpl >::Matrix3	Matrix3

typedef traits< SE3Tpl >::Matrix4	Matrix4

typedef traits< SE3Tpl >::Matrix6	Matrix6

typedef Eigen::Quaternion< Scalar, Options >	Quaternion

typedef traits< SE3Tpl >::Vector3	Vector3

typedef traits< SE3Tpl >::Vector4	Vector4

Public Member Functions
template<int O2>
SE3Tpl	__mult__ (const SE3Tpl< Scalar, O2 > &m2) const

template<typename D >
SE3GroupAction< D >::ReturnType	act_impl (const D &d) const
	— GROUP ACTIONS ON M6, F6 and I6 — More...

template<int O2>
SE3Tpl	act_impl (const SE3Tpl< Scalar, O2 > &m2) const

Vector3	act_impl (const Vector3 &p) const

template<typename D >
SE3GroupAction< D >::ReturnType	actInv_impl (const D &d) const
	by = aXb.actInv(ay) More...

template<int O2>
SE3Tpl	actInv_impl (const SE3Tpl< Scalar, O2 > &m2) const

Vector3	actInv_impl (const Vector3 &p) const

template<typename MapDerived >
Vector3	actInvOnEigenObject (const Eigen::MapBase< MapDerived > &p) const

template<typename EigenDerived >
EigenDerived::PlainObject	actInvOnEigenObject (const Eigen::MatrixBase< EigenDerived > &p) const

template<typename MapDerived >
Vector3	actOnEigenObject (const Eigen::MapBase< MapDerived > &p) const

template<typename EigenDerived >
EigenDerived::PlainObject	actOnEigenObject (const Eigen::MatrixBase< EigenDerived > &p) const

template<typename NewScalar >
SE3Tpl< NewScalar, Options >	cast () const

void	disp_impl (std::ostream &os) const

template<typename OtherScalar >
SE3Tpl< Scalar, Options >	Interpolate (const SE3Tpl &A, const SE3Tpl &B, const OtherScalar &alpha)

SE3Tpl	inverse () const
	aXb = bXa.inverse() More...

template<int O2>
bool	isApprox_impl (const SE3Tpl< Scalar, O2 > &m2, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

template<int O2>
bool	isEqual (const SE3Tpl< Scalar, O2 > &m2) const

bool	isIdentity (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

bool	isNormalized (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

void	normalize ()

PlainType	normalized () const

SE3Tpl &	operator= (const SE3Tpl &other)
	Copy assignment operator. More...

template<int O2>
SE3Tpl &	operator= (const SE3Tpl< Scalar, O2 > &other)

EIGEN_MAKE_ALIGNED_OPERATOR_NEW	PINOCCHIO_SE3_TYPEDEF_TPL (SE3Tpl)

AngularRef	rotation ()

ConstAngularRef	rotation () const

void	rotation (const AngularType &R)

AngularRef	rotation_impl ()

ConstAngularRef	rotation_impl () const

void	rotation_impl (const AngularType &R)

	SE3Tpl ()

template<typename Matrix3Like , typename Vector3Like >
	SE3Tpl (const Eigen::MatrixBase< Matrix3Like > &R, const Eigen::MatrixBase< Vector3Like > &trans)

template<typename Matrix4Like >
	SE3Tpl (const Eigen::MatrixBase< Matrix4Like > &m)

template<typename QuaternionLike , typename Vector3Like >
	SE3Tpl (const Eigen::QuaternionBase< QuaternionLike > &quat, const Eigen::MatrixBase< Vector3Like > &trans)

	SE3Tpl (const SE3Tpl &other)

template<typename S2 , int O2>
	SE3Tpl (const SE3Tpl< S2, O2 > &other)

template<int O2>
	SE3Tpl (const SE3Tpl< Scalar, O2 > &clone)

	SE3Tpl (int)

SE3Tpl &	setIdentity ()

SE3Tpl &	setRandom ()

ActionMatrixType	toActionMatrix_impl () const

template<typename Matrix6Like >
void	toActionMatrix_impl (const Eigen::MatrixBase< Matrix6Like > &action_matrix) const
	Vb.toVector() = bXa.toMatrix() * Va.toVector() More...

ActionMatrixType	toActionMatrixInverse_impl () const

template<typename Matrix6Like >
void	toActionMatrixInverse_impl (const Eigen::MatrixBase< Matrix6Like > &action_matrix_inverse) const

ActionMatrixType	toDualActionMatrix_impl () const

template<typename Matrix6Like >
void	toDualActionMatrix_impl (const Eigen::MatrixBase< Matrix6Like > &dual_action_matrix) const

HomogeneousMatrixType	toHomogeneousMatrix_impl () const

LinearRef	translation ()

ConstLinearRef	translation () const

void	translation (const LinearType &t)

LinearRef	translation_impl ()

ConstLinearRef	translation_impl () const

void	translation_impl (const LinearType &p)

Static Public Member Functions
static SE3Tpl	Identity ()

template<typename OtherScalar >
static SE3Tpl	Interpolate (const SE3Tpl &A, const SE3Tpl &B, const OtherScalar &alpha)
	Linear interpolation on the SE3 manifold. More...

static SE3Tpl	Random ()

Protected Attributes
AngularType	rot

LinearType	trans

Detailed Description

template<typename _Scalar, int _Options>
struct pinocchio::SE3Tpl< _Scalar, _Options >

Definition at line 29 of file context/casadi.hpp.

Member Typedef Documentation

◆ Base

template<typename _Scalar , int _Options>

typedef SE3Base<SE3Tpl<_Scalar, _Options> > pinocchio::SE3Tpl< _Scalar, _Options >::Base

Definition at line 53 of file spatial/se3-tpl.hpp.

◆ Matrix3

template<typename _Scalar , int _Options>

typedef traits<SE3Tpl>::Matrix3 pinocchio::SE3Tpl< _Scalar, _Options >::Matrix3

Definition at line 56 of file spatial/se3-tpl.hpp.

◆ Matrix4

template<typename _Scalar , int _Options>

typedef traits<SE3Tpl>::Matrix4 pinocchio::SE3Tpl< _Scalar, _Options >::Matrix4

Definition at line 57 of file spatial/se3-tpl.hpp.

◆ Matrix6

template<typename _Scalar , int _Options>

typedef traits<SE3Tpl>::Matrix6 pinocchio::SE3Tpl< _Scalar, _Options >::Matrix6

Definition at line 59 of file spatial/se3-tpl.hpp.

◆ Quaternion

template<typename _Scalar , int _Options>

typedef Eigen::Quaternion<Scalar, Options> pinocchio::SE3Tpl< _Scalar, _Options >::Quaternion

Definition at line 54 of file spatial/se3-tpl.hpp.

◆ Vector3

template<typename _Scalar , int _Options>

typedef traits<SE3Tpl>::Vector3 pinocchio::SE3Tpl< _Scalar, _Options >::Vector3

Definition at line 55 of file spatial/se3-tpl.hpp.

◆ Vector4

template<typename _Scalar , int _Options>

typedef traits<SE3Tpl>::Vector4 pinocchio::SE3Tpl< _Scalar, _Options >::Vector4

Definition at line 58 of file spatial/se3-tpl.hpp.

Constructor & Destructor Documentation

◆ SE3Tpl() [1/8]

template<typename _Scalar , int _Options>

pinocchio::SE3Tpl< _Scalar, _Options >::SE3Tpl ( )

inline

Definition at line 64 of file spatial/se3-tpl.hpp.

◆ SE3Tpl() [2/8]

template<typename _Scalar , int _Options>

template<typename QuaternionLike , typename Vector3Like >

pinocchio::SE3Tpl< _Scalar, _Options >::SE3Tpl	(	const Eigen::QuaternionBase< QuaternionLike > &	quat,
		const Eigen::MatrixBase< Vector3Like > &	trans
	)

inline

Definition at line 69 of file spatial/se3-tpl.hpp.

◆ SE3Tpl() [3/8]

template<typename _Scalar , int _Options>

template<typename Matrix3Like , typename Vector3Like >

pinocchio::SE3Tpl< _Scalar, _Options >::SE3Tpl	(	const Eigen::MatrixBase< Matrix3Like > &	R,
		const Eigen::MatrixBase< Vector3Like > &	trans
	)

inline

Definition at line 79 of file spatial/se3-tpl.hpp.

◆ SE3Tpl() [4/8]

template<typename _Scalar , int _Options>

pinocchio::SE3Tpl< _Scalar, _Options >::SE3Tpl ( const SE3Tpl< _Scalar, _Options > & other )

inline

Definition at line 84 of file spatial/se3-tpl.hpp.

◆ SE3Tpl() [5/8]

template<typename _Scalar , int _Options>

template<typename S2 , int O2>

pinocchio::SE3Tpl< _Scalar, _Options >::SE3Tpl ( const SE3Tpl< S2, O2 > & other )

inlineexplicit

Definition at line 90 of file spatial/se3-tpl.hpp.

◆ SE3Tpl() [6/8]

template<typename _Scalar , int _Options>

template<typename Matrix4Like >

pinocchio::SE3Tpl< _Scalar, _Options >::SE3Tpl ( const Eigen::MatrixBase< Matrix4Like > & m )

inlineexplicit

Definition at line 96 of file spatial/se3-tpl.hpp.

◆ SE3Tpl() [7/8]

template<typename _Scalar , int _Options>

pinocchio::SE3Tpl< _Scalar, _Options >::SE3Tpl ( int )

inlineexplicit

Definition at line 103 of file spatial/se3-tpl.hpp.

◆ SE3Tpl() [8/8]

template<typename _Scalar , int _Options>

template<int O2>

pinocchio::SE3Tpl< _Scalar, _Options >::SE3Tpl ( const SE3Tpl< Scalar, O2 > & clone )

inline

Definition at line 110 of file spatial/se3-tpl.hpp.

Member Function Documentation

◆ mult()

template<typename _Scalar , int _Options>

template<int O2>

SE3Tpl pinocchio::SE3Tpl< _Scalar, _Options >::__mult__ ( const SE3Tpl< Scalar, O2 > & m2 ) const

inline

Definition at line 327 of file spatial/se3-tpl.hpp.

◆ act_impl() [1/3]

template<typename _Scalar , int _Options>

template<typename D >

SE3GroupAction<D>::ReturnType pinocchio::SE3Tpl< _Scalar, _Options >::act_impl ( const D & d ) const

inline

— GROUP ACTIONS ON M6, F6 and I6 —

ay = aXb.act(by)

Definition at line 265 of file spatial/se3-tpl.hpp.

◆ act_impl() [2/3]

template<typename _Scalar , int _Options>

template<int O2>

SE3Tpl pinocchio::SE3Tpl< _Scalar, _Options >::act_impl ( const SE3Tpl< Scalar, O2 > & m2 ) const

inline

Definition at line 314 of file spatial/se3-tpl.hpp.

◆ act_impl() [3/3]

template<typename _Scalar , int _Options>

Vector3 pinocchio::SE3Tpl< _Scalar, _Options >::act_impl ( const Vector3 & p ) const

inline

Definition at line 303 of file spatial/se3-tpl.hpp.

◆ actInv_impl() [1/3]

template<typename _Scalar , int _Options>

template<typename D >

SE3GroupAction<D>::ReturnType pinocchio::SE3Tpl< _Scalar, _Options >::actInv_impl ( const D & d ) const

inline

by = aXb.actInv(ay)

Definition at line 272 of file spatial/se3-tpl.hpp.

◆ actInv_impl() [2/3]

template<typename _Scalar , int _Options>

template<int O2>

SE3Tpl pinocchio::SE3Tpl< _Scalar, _Options >::actInv_impl ( const SE3Tpl< Scalar, O2 > & m2 ) const

inline

Definition at line 320 of file spatial/se3-tpl.hpp.

◆ actInv_impl() [3/3]

template<typename _Scalar , int _Options>

Vector3 pinocchio::SE3Tpl< _Scalar, _Options >::actInv_impl ( const Vector3 & p ) const

inline

Definition at line 308 of file spatial/se3-tpl.hpp.

◆ actInvOnEigenObject() [1/2]

template<typename _Scalar , int _Options>

template<typename MapDerived >

Vector3 pinocchio::SE3Tpl< _Scalar, _Options >::actInvOnEigenObject ( const Eigen::MapBase< MapDerived > & p ) const

inline

Definition at line 298 of file spatial/se3-tpl.hpp.

◆ actInvOnEigenObject() [2/2]

template<typename _Scalar , int _Options>

template<typename EigenDerived >

EigenDerived::PlainObject pinocchio::SE3Tpl< _Scalar, _Options >::actInvOnEigenObject ( const Eigen::MatrixBase< EigenDerived > & p ) const

inline

Definition at line 292 of file spatial/se3-tpl.hpp.

◆ actOnEigenObject() [1/2]

template<typename _Scalar , int _Options>

template<typename MapDerived >

Vector3 pinocchio::SE3Tpl< _Scalar, _Options >::actOnEigenObject ( const Eigen::MapBase< MapDerived > & p ) const

inline

Definition at line 285 of file spatial/se3-tpl.hpp.

◆ actOnEigenObject() [2/2]

template<typename _Scalar , int _Options>

template<typename EigenDerived >

EigenDerived::PlainObject pinocchio::SE3Tpl< _Scalar, _Options >::actOnEigenObject ( const Eigen::MatrixBase< EigenDerived > & p ) const

inline

Definition at line 279 of file spatial/se3-tpl.hpp.

◆ cast()

template<typename _Scalar , int _Options>

template<typename NewScalar >

SE3Tpl<NewScalar, Options> pinocchio::SE3Tpl< _Scalar, _Options >::cast ( ) const

inline

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

Definition at line 379 of file spatial/se3-tpl.hpp.

◆ disp_impl()

template<typename _Scalar , int _Options>

void pinocchio::SE3Tpl< _Scalar, _Options >::disp_impl ( std::ostream & os ) const

inline

Definition at line 256 of file spatial/se3-tpl.hpp.

◆ Identity()

template<typename _Scalar , int _Options>

static SE3Tpl pinocchio::SE3Tpl< _Scalar, _Options >::Identity ( )

inlinestatic

Definition at line 136 of file spatial/se3-tpl.hpp.

◆ Interpolate() [1/2]

template<typename _Scalar , int _Options>

template<typename OtherScalar >

static SE3Tpl pinocchio::SE3Tpl< _Scalar, _Options >::Interpolate	(	const SE3Tpl< _Scalar, _Options > &	A,
		const SE3Tpl< _Scalar, _Options > &	B,
		const OtherScalar &	alpha
	)

static

Linear interpolation on the SE3 manifold.

Parameters

[in]	A	Initial transformation.
[in]	B	Target transformation.
[in]	alpha	Interpolation factor in [0 ... 1].

Returns: An interpolated transformation between A and B.

Note: This is similar to the SLERP operation which acts initially for rotation but applied here to rigid transformation.

◆ Interpolate() [2/2]

template<typename _Scalar , int _Options>

template<typename OtherScalar >

SE3Tpl<Scalar, Options> pinocchio::SE3Tpl< _Scalar, _Options >::Interpolate	(	const SE3Tpl< _Scalar, _Options > &	A,
		const SE3Tpl< _Scalar, _Options > &	B,
		const OtherScalar &	alpha
	)

Definition at line 690 of file spatial/explog.hpp.

◆ inverse()

template<typename _Scalar , int _Options>

SE3Tpl pinocchio::SE3Tpl< _Scalar, _Options >::inverse ( ) const

inline

aXb = bXa.inverse()

Definition at line 149 of file spatial/se3-tpl.hpp.

◆ isApprox_impl()

template<typename _Scalar , int _Options>

template<int O2>

bool pinocchio::SE3Tpl< _Scalar, _Options >::isApprox_impl	(	const SE3Tpl< Scalar, O2 > &	m2,
		const Scalar &	prec = `Eigen::NumTraits<Scalar>::dummy_precision()`
	)		const

inline

Definition at line 339 of file spatial/se3-tpl.hpp.

◆ isEqual()

template<typename _Scalar , int _Options>

template<int O2>

bool pinocchio::SE3Tpl< _Scalar, _Options >::isEqual ( const SE3Tpl< Scalar, O2 > & m2 ) const

inline

Definition at line 333 of file spatial/se3-tpl.hpp.

◆ isIdentity()

template<typename _Scalar , int _Options>

bool pinocchio::SE3Tpl< _Scalar, _Options >::isIdentity ( const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision() ) const

inline

Definition at line 347 of file spatial/se3-tpl.hpp.

◆ isNormalized()

template<typename _Scalar , int _Options>

bool pinocchio::SE3Tpl< _Scalar, _Options >::isNormalized ( const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision() ) const

inline

Definition at line 390 of file spatial/se3-tpl.hpp.

◆ normalize()

template<typename _Scalar , int _Options>

void pinocchio::SE3Tpl< _Scalar, _Options >::normalize ( )

inline

Definition at line 395 of file spatial/se3-tpl.hpp.

◆ normalized()

template<typename _Scalar , int _Options>

PlainType pinocchio::SE3Tpl< _Scalar, _Options >::normalized ( ) const

inline

Definition at line 400 of file spatial/se3-tpl.hpp.

◆ operator=() [1/2]

template<typename _Scalar , int _Options>

SE3Tpl& pinocchio::SE3Tpl< _Scalar, _Options >::operator= ( const SE3Tpl< _Scalar, _Options > & other )

inline

Copy assignment operator.

Parameters

[in] other SE3 to copy

Definition at line 129 of file spatial/se3-tpl.hpp.

◆ operator=() [2/2]

template<typename _Scalar , int _Options>

template<int O2>

SE3Tpl& pinocchio::SE3Tpl< _Scalar, _Options >::operator= ( const SE3Tpl< Scalar, O2 > & other )

inline

Definition at line 117 of file spatial/se3-tpl.hpp.

◆ PINOCCHIO_SE3_TYPEDEF_TPL()

template<typename _Scalar , int _Options>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW pinocchio::SE3Tpl< _Scalar, _Options >::PINOCCHIO_SE3_TYPEDEF_TPL ( SE3Tpl< _Scalar, _Options > )

◆ Random()

template<typename _Scalar , int _Options>

static SE3Tpl pinocchio::SE3Tpl< _Scalar, _Options >::Random ( )

inlinestatic

Definition at line 154 of file spatial/se3-tpl.hpp.

◆ rotation() [1/3]

template<typename _Scalar , int _Options>

AngularRef pinocchio::SE3Base< Derived >::rotation

inline

Definition at line 56 of file se3-base.hpp.

◆ rotation() [2/3]

template<typename _Scalar , int _Options>

ConstAngularRef pinocchio::SE3Base< Derived >::rotation

inline

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

◆ rotation() [3/3]

template<typename _Scalar , int _Options>

void pinocchio::SE3Base< Derived >::rotation

inline

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

◆ rotation_impl() [1/3]

template<typename _Scalar , int _Options>

AngularRef pinocchio::SE3Tpl< _Scalar, _Options >::rotation_impl ( )

inline

Definition at line 356 of file spatial/se3-tpl.hpp.

◆ rotation_impl() [2/3]

template<typename _Scalar , int _Options>

ConstAngularRef pinocchio::SE3Tpl< _Scalar, _Options >::rotation_impl ( ) const

inline

Definition at line 352 of file spatial/se3-tpl.hpp.

◆ rotation_impl() [3/3]

template<typename _Scalar , int _Options>

void pinocchio::SE3Tpl< _Scalar, _Options >::rotation_impl ( const AngularType & R )

inline

Definition at line 360 of file spatial/se3-tpl.hpp.

◆ setIdentity()

template<typename _Scalar , int _Options>

SE3Tpl& pinocchio::SE3Tpl< _Scalar, _Options >::setIdentity ( )

inline

Definition at line 141 of file spatial/se3-tpl.hpp.

◆ setRandom()

template<typename _Scalar , int _Options>

SE3Tpl& pinocchio::SE3Tpl< _Scalar, _Options >::setRandom ( )

inline

Definition at line 159 of file spatial/se3-tpl.hpp.

◆ toActionMatrix_impl() [1/2]

template<typename _Scalar , int _Options>

ActionMatrixType pinocchio::SE3Tpl< _Scalar, _Options >::toActionMatrix_impl ( ) const

inline

Definition at line 195 of file spatial/se3-tpl.hpp.

◆ toActionMatrix_impl() [2/2]

template<typename _Scalar , int _Options>

template<typename Matrix6Like >

void pinocchio::SE3Tpl< _Scalar, _Options >::toActionMatrix_impl ( const Eigen::MatrixBase< Matrix6Like > & action_matrix ) const

inline

Vb.toVector() = bXa.toMatrix() * Va.toVector()

Definition at line 181 of file spatial/se3-tpl.hpp.

◆ toActionMatrixInverse_impl() [1/2]

template<typename _Scalar , int _Options>

ActionMatrixType pinocchio::SE3Tpl< _Scalar, _Options >::toActionMatrixInverse_impl ( ) const

inline

Definition at line 227 of file spatial/se3-tpl.hpp.

◆ toActionMatrixInverse_impl() [2/2]

template<typename _Scalar , int _Options>

template<typename Matrix6Like >

void pinocchio::SE3Tpl< _Scalar, _Options >::toActionMatrixInverse_impl ( const Eigen::MatrixBase< Matrix6Like > & action_matrix_inverse ) const

inline

Definition at line 204 of file spatial/se3-tpl.hpp.

◆ toDualActionMatrix_impl() [1/2]

template<typename _Scalar , int _Options>

ActionMatrixType pinocchio::SE3Tpl< _Scalar, _Options >::toDualActionMatrix_impl ( ) const

inline

Definition at line 249 of file spatial/se3-tpl.hpp.

◆ toDualActionMatrix_impl() [2/2]

template<typename _Scalar , int _Options>

template<typename Matrix6Like >

void pinocchio::SE3Tpl< _Scalar, _Options >::toDualActionMatrix_impl ( const Eigen::MatrixBase< Matrix6Like > & dual_action_matrix ) const

inline

Definition at line 235 of file spatial/se3-tpl.hpp.

◆ toHomogeneousMatrix_impl()

template<typename _Scalar , int _Options>

HomogeneousMatrixType pinocchio::SE3Tpl< _Scalar, _Options >::toHomogeneousMatrix_impl ( ) const

inline

Definition at line 169 of file spatial/se3-tpl.hpp.

◆ translation() [1/3]

template<typename _Scalar , int _Options>

LinearRef pinocchio::SE3Base< Derived >::translation

inline

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

◆ translation() [2/3]

template<typename _Scalar , int _Options>

ConstLinearRef pinocchio::SE3Base< Derived >::translation

inline

Definition at line 52 of file se3-base.hpp.

◆ translation() [3/3]

template<typename _Scalar , int _Options>

void pinocchio::SE3Base< Derived >::translation

inline

Definition at line 68 of file se3-base.hpp.

◆ translation_impl() [1/3]

template<typename _Scalar , int _Options>

LinearRef pinocchio::SE3Tpl< _Scalar, _Options >::translation_impl ( )

inline

Definition at line 368 of file spatial/se3-tpl.hpp.

◆ translation_impl() [2/3]

template<typename _Scalar , int _Options>

ConstLinearRef pinocchio::SE3Tpl< _Scalar, _Options >::translation_impl ( ) const

inline

Definition at line 364 of file spatial/se3-tpl.hpp.

◆ translation_impl() [3/3]

template<typename _Scalar , int _Options>

void pinocchio::SE3Tpl< _Scalar, _Options >::translation_impl ( const LinearType & p )

inline

Definition at line 372 of file spatial/se3-tpl.hpp.

Member Data Documentation

◆ rot

template<typename _Scalar , int _Options>

AngularType pinocchio::SE3Tpl< _Scalar, _Options >::rot

protected

Definition at line 423 of file spatial/se3-tpl.hpp.

◆ trans

template<typename _Scalar , int _Options>

LinearType pinocchio::SE3Tpl< _Scalar, _Options >::trans

protected

Definition at line 424 of file spatial/se3-tpl.hpp.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

template<typename _Scalar, int _Options> struct pinocchio::SE3Tpl< _Scalar, _Options >

Member Typedef Documentation

◆ Base

◆ Matrix3

◆ Matrix4

◆ Matrix6

◆ Quaternion

◆ Vector3

◆ Vector4

Constructor & Destructor Documentation

◆ SE3Tpl() [1/8]

◆ SE3Tpl() [2/8]

◆ SE3Tpl() [3/8]

◆ SE3Tpl() [4/8]

◆ SE3Tpl() [5/8]

◆ SE3Tpl() [6/8]

◆ SE3Tpl() [7/8]

◆ SE3Tpl() [8/8]

Member Function Documentation

◆ __mult__()

◆ act_impl() [1/3]

◆ act_impl() [2/3]

◆ act_impl() [3/3]

◆ actInv_impl() [1/3]

◆ actInv_impl() [2/3]

◆ actInv_impl() [3/3]

◆ actInvOnEigenObject() [1/2]

◆ actInvOnEigenObject() [2/2]

◆ actOnEigenObject() [1/2]

◆ actOnEigenObject() [2/2]

◆ cast()

◆ disp_impl()

◆ Identity()

◆ Interpolate() [1/2]

◆ Interpolate() [2/2]

◆ inverse()

◆ isApprox_impl()

◆ isEqual()

◆ isIdentity()

◆ isNormalized()

◆ normalize()

◆ normalized()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ PINOCCHIO_SE3_TYPEDEF_TPL()

◆ Random()

◆ rotation() [1/3]

◆ rotation() [2/3]

◆ rotation() [3/3]

◆ rotation_impl() [1/3]

◆ rotation_impl() [2/3]

◆ rotation_impl() [3/3]

◆ setIdentity()

◆ setRandom()

◆ toActionMatrix_impl() [1/2]

◆ toActionMatrix_impl() [2/2]

◆ toActionMatrixInverse_impl() [1/2]

◆ toActionMatrixInverse_impl() [2/2]

◆ toDualActionMatrix_impl() [1/2]

◆ toDualActionMatrix_impl() [2/2]

◆ toHomogeneousMatrix_impl()

◆ translation() [1/3]

◆ translation() [2/3]

◆ translation() [3/3]

◆ translation_impl() [1/3]

◆ translation_impl() [2/3]

◆ translation_impl() [3/3]

Member Data Documentation

◆ rot

◆ trans

template<typename _Scalar, int _Options>
struct pinocchio::SE3Tpl< _Scalar, _Options >

◆ mult()