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    • README
      • Table of contents
      • Introducing Pinocchio 3
      • Pinocchio main features
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    • Overview {#index}
    • Porting from Pinocchio 2 to 3
    • Porting from Pinocchio 1.3.3 to 2.0.0
    • b-examples/
      • Loading the model
      • Geometry models
      • Load and display a model
      • Collision detection and distances
      • Inverse kinematics (clik)
      • Build reduced model
      • Update model after loading its URDF
      • Examples
    • b-examples/display/
      • Display a model using GepettoViewer
      • Display a model using Meshcat
      • Display a model using RobotWrapper
    • a-features/
      • From joints to Lie-group geometry
      • Using \( SE(2) \) with pinocchio in C++
      • Using \f$ SE(3) \f$ with pinocchio in C++
      • Using interpolation to plot a trajectory with pinocchio in C++
      • Forward kinematics
      • Kinematic Jacobian
      • Inverse dynamics
      • Joint-space inertia matrix
      • Forward dynamics
      • Additional algorithms
    • c-maths/
      • Rigid Bodies
      • Joint dynamics
      • Mathematical formulation
      • CheatSheet: SE(3) operations
    • d-practical-exercises/
      • 1) Move your body (aka direct geometry)
      • 2) Grasp an object (aka inverse Geometry)
      • 3) Drag and Drop (aka Inverse kinematics)
      • 4) Snap your fingers (aka direct and inverse dynamics)
      • 5) Look ahead (aka motion planning)
      • 6) Take a walk (aka optimal control)
      • 7) Learning to fly (aka policy learning)
      • Practical Exercises
  • Index
pinocchio
  • C++ API
  • File liegroup-base.hpp
  • View page source

File liegroup-base.hpp

↰ Parent directory (include/pinocchio/multibody/liegroup)

Contents

  • Definition (include/pinocchio/multibody/liegroup/liegroup-base.hpp)

  • Includes

  • Namespaces

  • Classes

  • Defines

  • Variables

Definition (include/pinocchio/multibody/liegroup/liegroup-base.hpp)

  • Program Listing for File liegroup-base.hpp

Includes

  • limits (File boost-container-limits.hpp)

  • pinocchio/multibody/liegroup/fwd.hpp (File fwd.hpp)

  • pinocchio/multibody/liegroup/liegroup-base.hxx (File liegroup-base.hxx)

Namespaces

  • Namespace pinocchio

Classes

  • Template Struct LieGroupBase

Defines

  • Define PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE

  • Define PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC

  • Define PINOCCHIO_LIE_GROUP_TPL_PUBLIC_INTERFACE

Variables

  • Variable pinocchio::SELF

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