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6 #ifndef __pinocchio_motion_base_hpp__
7 #define __pinocchio_motion_base_hpp__
12 template<
class Derived>
18 Derived &
derived() {
return *
static_cast<Derived*
>(
this); }
19 const Derived &
derived()
const {
return *
static_cast<const Derived*
>(
this); }
26 template<
typename V3Like>
27 void angular(
const Eigen::MatrixBase<V3Like> &
w)
28 {
derived().angular_impl(
w.derived()); }
30 template<
typename V3Like>
31 void linear(
const Eigen::MatrixBase<V3Like> &
v)
32 {
derived().linear_impl(
v.derived()); }
34 operator PlainReturnType()
const {
return derived().plain(); }
39 operator Vector6()
const {
return toVector(); }
64 {
return derived().isEqual_impl(other.derived()); }
68 {
return !(
derived() == other.derived()); }
76 template<
typename OtherScalar>
79 {
return derived().__mult__(alpha); }
81 template<
typename OtherScalar>
83 {
return derived().__div__(alpha); }
85 template<
typename OtherSpatialType>
87 cross(
const OtherSpatialType &
d)
const
92 bool isApprox(
const Derived & other,
const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision())
const
93 {
return derived().isApprox_impl(other, prec);}
95 bool isZero(
const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision())
const
96 {
return derived().isZero_impl(prec);}
98 template<
typename S2,
int O2>
101 {
return derived().se3Action_impl(
m); }
103 template<
typename S2,
int O2>
106 {
return derived().se3ActionInverse_impl(
m); }
108 template<
typename ForceDerived>
120 template<
typename MotionDerived>
130 #endif // ifndef __pinocchio_motion_base_hpp__
SE3GroupAction< Derived >::ReturnType se3Action(const SE3Tpl< S2, O2 > &m) const
Derived & operator+=(const MotionBase< Derived > &v)
bool operator!=(const MotionBase< M2 > &other) const
Derived & operator-=(const MotionBase< Derived > &v)
ActionMatrixType toActionMatrix() const
internal::RHSScalarMultiplication< Derived, OtherScalar >::ReturnType operator*(const OtherScalar &alpha) const
MultiplicationOp< InertiaTpl< Scalar, Options >, ConstraintDerived >::ReturnType operator*(const InertiaTpl< Scalar, Options > &Y, const ConstraintBase< ConstraintDerived > &constraint)
 
ConstAngularType angular() const
PlainReturnType plain() const
ConstLinearType linear() const
bool isApprox(const Derived &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
bool isZero(const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
void disp(std::ostream &os) const
bool operator==(const MotionBase< M2 > &other) const
Derived operator/(const OtherScalar &alpha) const
MotionAlgebraAction< OtherSpatialType, Derived >::ReturnType cross(const OtherSpatialType &d) const
Scalar dot(const ForceDense< ForceDerived > &f) const
ToVectorConstReturnType toVector() const
friend std::ostream & operator<<(std::ostream &os, const MotionBase< Derived > &v)
MOTION_TYPEDEF_TPL(Derived)
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > const Eigen::MatrixBase< TangentVectorType > & v
SE3GroupAction< Derived >::ReturnType se3ActionInverse(const SE3Tpl< S2, O2 > &m) const
MotionTpl< Scalar, Options > motion(const JointDataTpl< Scalar, Options, JointCollectionTpl > &jdata)
Visit a JointDataTpl through JointMotionVisitor to get the joint internal motion as a dense motion.
Derived operator-() const
Derived operator-(const MotionBase< Derived > &v) const
Derived operator+(const MotionBase< Derived > &v) const
ToVectorReturnType toVector()
ActionMatrixType toDualActionMatrix() const
HomogeneousMatrixType toHomogeneousMatrix() const
The homogeneous representation of the motion vector .
Main pinocchio namespace.
pinocchio
Author(s):
autogenerated on Tue Feb 13 2024 03:43:59