#include <vector-space.hpp>

Inheritance diagram for pinocchio::VectorSpaceOperationTpl< Dim, _Scalar, _Options >:

Public Member Functions
template<ArgumentPosition arg, class ConfigL_t , class ConfigR_t , class JacobianOut_t >
void	dDifference_impl (const Eigen::MatrixBase< ConfigL_t > &, const Eigen::MatrixBase< ConfigR_t > &, const Eigen::MatrixBase< JacobianOut_t > &J) const

template<ArgumentPosition arg, class ConfigL_t , class ConfigR_t , class JacobianIn_t , class JacobianOut_t >
void	dDifference_product_impl (const ConfigL_t &, const ConfigR_t &, const JacobianIn_t &Jin, JacobianOut_t &Jout, bool, const AssignmentOperatorType op) const

template<class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >
void	dIntegrate_product_impl (const Config_t &, const Tangent_t &, const JacobianIn_t &Jin, JacobianOut_t &Jout, bool, const ArgumentPosition, const AssignmentOperatorType op) const

template<class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >
void	dIntegrateTransport_dq_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Tangent_t > &, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout) const

template<class Config_t , class Tangent_t , class Jacobian_t >
void	dIntegrateTransport_dq_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Tangent_t > &, const Eigen::MatrixBase< Jacobian_t > &) const

template<class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >
void	dIntegrateTransport_dv_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Tangent_t > &, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout) const

template<class Config_t , class Tangent_t , class Jacobian_t >
void	dIntegrateTransport_dv_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Tangent_t > &, const Eigen::MatrixBase< Jacobian_t > &) const

bool	isEqual_impl (const VectorSpaceOperationTpl &other) const

std::string	name () const

ConfigVector_t	neutral () const

Index	nq () const

Index	nv () const

	PINOCCHIO_LIE_GROUP_TPL_PUBLIC_INTERFACE (VectorSpaceOperationTpl)

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_pos_limit, const Eigen::MatrixBase< ConfigR_t > &upper_pos_limit, const Eigen::MatrixBase< ConfigOut_t > &qout) const

	VectorSpaceOperationTpl (int size=boost::static_signed_max< 0, Dim >::value)

	VectorSpaceOperationTpl (const VectorSpaceOperationTpl &other)

Public Member Functions inherited from pinocchio::LieGroupBase< VectorSpaceOperationTpl< Dim, _Scalar, _Options > >
void	integrate (const Eigen::MatrixBase< ConfigIn_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< ConfigOut_t > &qout) const
	Integrate a joint's configuration with a tangent vector during one unit time duration. More...

void	integrateCoeffWiseJacobian (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Jacobian_t > &J) const
	Computes the Jacobian of the integrate operator around zero. More...

void	dIntegrate (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, AssignmentOperatorType op=SETTO) const
	Computes the Jacobian of a small variation of the configuration vector or the tangent vector into tangent space at identity. More...

void	dIntegrate (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO) const
	Computes the Jacobian of a small variation of the configuration vector or the tangent vector into tangent space at identity. More...

void	dIntegrate_dq (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const AssignmentOperatorType op=SETTO) const
	Computes the Jacobian of a small variation of the configuration vector into tangent space at identity. More...

void	dIntegrate_dq (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &Jin, int self, const Eigen::MatrixBase< JacobianOut_t > &Jout, const AssignmentOperatorType op=SETTO) const

void	dIntegrate_dq (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, int self, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout, const AssignmentOperatorType op=SETTO) const

void	dIntegrate_dv (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const AssignmentOperatorType op=SETTO) const
	Computes the Jacobian of a small variation of the tangent vector into tangent space at identity. More...

void	dIntegrate_dv (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, int self, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout, const AssignmentOperatorType op=SETTO) const

void	dIntegrate_dv (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &Jin, int self, const Eigen::MatrixBase< JacobianOut_t > &Jout, const AssignmentOperatorType op=SETTO) const

void	dIntegrateTransport (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout, const ArgumentPosition arg) const
	Transport a matrix from the terminal to the originate tangent space of the integrate operation, with respect to the configuration or the velocity arguments. More...

void	dIntegrateTransport (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< Jacobian_t > &J, const ArgumentPosition arg) const
	Transport in place a matrix from the terminal to the originate tangent space of the integrate operation, with respect to the configuration or the velocity arguments. More...

void	dIntegrateTransport_dq (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout) const
	Transport a matrix from the terminal to the originate tangent space of the integrate operation, with respect to the configuration argument. More...

void	dIntegrateTransport_dq (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< Jacobian_t > &J) const
	Transport in place a matrix from the terminal to the originate tangent space of the integrate operation, with respect to the configuration argument. More...

void	dIntegrateTransport_dv (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout) const
	Transport a matrix from the terminal to the originate tangent space of the integrate operation, with respect to the velocity argument. More...

void	dIntegrateTransport_dv (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< Jacobian_t > &J) const
	Transport in place a matrix from the terminal to the originate tangent space of the integrate operation, with respect to the velocity argument. More...

void	interpolate (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &u, const Eigen::MatrixBase< ConfigOut_t > &qout) const
	Interpolation between two joint's configurations. More...

void	normalize (const Eigen::MatrixBase< Config_t > &qout) const
	Normalize the joint configuration given as input. For instance, the quaternion must be unitary. More...

bool	isNormalized (const Eigen::MatrixBase< Config_t > &qin, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
	Check whether the input joint configuration is normalized. For instance, the quaternion must be unitary. More...

void	random (const Eigen::MatrixBase< Config_t > &qout) const
	Generate a random joint configuration, normalizing quaternions when necessary. More...

void	randomConfiguration (const Eigen::MatrixBase< ConfigL_t > &lower_pos_limit, const Eigen::MatrixBase< ConfigR_t > &upper_pos_limit, const Eigen::MatrixBase< ConfigOut_t > &qout) const
	Generate a configuration vector uniformly sampled among provided limits. More...

void	difference (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< Tangent_t > &v) const
	Computes the tangent vector that must be integrated during one unit time to go from q0 to q1. More...

void	dDifference (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< JacobianOut_t > &J) const
	Computes the Jacobian of the difference operation with respect to q0 or q1. More...

void	dDifference (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< JacobianOut_t > &J, const ArgumentPosition arg) const
	Computes the Jacobian of the difference operation with respect to q0 or q1. More...

void	dDifference (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< JacobianIn_t > &Jin, int self, const Eigen::MatrixBase< JacobianOut_t > &Jout, const AssignmentOperatorType op=SETTO) const

void	dDifference (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, int self, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout, const AssignmentOperatorType op=SETTO) const

Scalar	squaredDistance (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const
	Squared distance between two joint configurations. More...

Scalar	distance (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const
	Distance between two configurations of the joint. More...

bool	isSameConfiguration (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
	Check if two configurations are equivalent within the given precision. More...

bool	operator== (const LieGroupBase &other) const

bool	operator!= (const LieGroupBase &other) const

ConfigVector_t	integrate (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v) const

ConfigVector_t	interpolate (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &u) const

ConfigVector_t	random () const

ConfigVector_t	randomConfiguration (const Eigen::MatrixBase< ConfigL_t > &lower_pos_limit, const Eigen::MatrixBase< ConfigR_t > &upper_pos_limit) const

TangentVector_t	difference (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const

void	dIntegrate_product_impl (const Config_t &q, const Tangent_t &v, const JacobianIn_t &Jin, JacobianOut_t &Jout, bool dIntegrateOnTheLeft, const ArgumentPosition arg, const AssignmentOperatorType op) const

void	dDifference_product_impl (const ConfigL_t &q0, const ConfigR_t &q1, const JacobianIn_t &Jin, JacobianOut_t &Jout, bool dDifferenceOnTheLeft, const AssignmentOperatorType op) const

void	interpolate_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &u, const Eigen::MatrixBase< ConfigOut_t > &qout) const

void	normalize_impl (const Eigen::MatrixBase< Config_t > &qout) const

bool	isNormalized_impl (const Eigen::MatrixBase< Config_t > &qin, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

Scalar	squaredDistance_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const

bool	isSameConfiguration_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &prec) const

bool	isEqual_impl (const LieGroupBase &) const
	Default equality check. By default, two LieGroupBase of same type are considered equal. More...

bool	isDifferent_impl (const LieGroupBase &other) const

Index	nq () const

Index	nv () const
	Get dimension of Lie Group tangent space. More...

ConfigVector_t	neutral () const
	Get neutral element as a vector. More...

std::string	name () const
	Get name of instance. More...

VectorSpaceOperationTpl< Dim, _Scalar, _Options > &	derived ()

const VectorSpaceOperationTpl< Dim, _Scalar, _Options > &	derived () const

Static Public Member Functions
template<class ConfigL_t , class ConfigR_t , class Tangent_t >
static void	difference_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< Tangent_t > &d)

template<class Config_t , class Tangent_t , class JacobianOut_t >
static void	dIntegrate_dq_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Tangent_t > &, const Eigen::MatrixBase< JacobianOut_t > &J, const AssignmentOperatorType op=SETTO)

template<class Config_t , class Tangent_t , class JacobianOut_t >
static void	dIntegrate_dv_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Tangent_t > &, const Eigen::MatrixBase< JacobianOut_t > &J, const AssignmentOperatorType op=SETTO)

template<class ConfigIn_t , class Velocity_t , class ConfigOut_t >
static void	integrate_impl (const Eigen::MatrixBase< ConfigIn_t > &q, const Eigen::MatrixBase< Velocity_t > &v, const Eigen::MatrixBase< ConfigOut_t > &qout)

template<class Config_t , class Jacobian_t >
static void	integrateCoeffWiseJacobian_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Jacobian_t > &J)

template<class Config_t >
static bool	isNormalized_impl (const Eigen::MatrixBase< Config_t > &, const Scalar &)

template<class Config_t >
static void	normalize_impl (const Eigen::MatrixBase< Config_t > &)

Private Attributes
Eigen::internal::variable_if_dynamic< Index, Dim >	size_

Additional Inherited Members
Public Types inherited from pinocchio::LieGroupBase< VectorSpaceOperationTpl< Dim, _Scalar, _Options > >
enum

typedef Eigen::Matrix< Scalar, NQ, 1, Options >	ConfigVector_t

typedef int	Index

typedef Eigen::Matrix< Scalar, NV, NV, Options >	JacobianMatrix_t

typedef VectorSpaceOperationTpl< Dim, _Scalar, _Options >	LieGroupDerived

typedef traits< LieGroupDerived >::Scalar	Scalar

typedef Eigen::Matrix< Scalar, NV, 1, Options >	TangentVector_t

Protected Member Functions inherited from pinocchio::LieGroupBase< VectorSpaceOperationTpl< Dim, _Scalar, _Options > >
	LieGroupBase ()

	LieGroupBase (const LieGroupBase &)

Detailed Description

template<int Dim, typename _Scalar, int _Options>
struct pinocchio::VectorSpaceOperationTpl< Dim, _Scalar, _Options >

Definition at line 15 of file vector-space.hpp.

Constructor & Destructor Documentation

template<int Dim, typename _Scalar, int _Options>

pinocchio::VectorSpaceOperationTpl< Dim, _Scalar, _Options >::VectorSpaceOperationTpl ( int size = boost::static_signed_max<0,Dim>::value )

inline

Constructor

Parameters

size	size of the vector space: should be the equal to template argument for static sized vector-spaces.

Definition at line 37 of file vector-space.hpp.

template<int Dim, typename _Scalar, int _Options>

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

inline

Constructor

Parameters

other other VectorSpaceOperationTpl from which to retrieve size

Definition at line 45 of file vector-space.hpp.

Member Function Documentation

template<int Dim, typename _Scalar, int _Options>

template<ArgumentPosition arg, class ConfigL_t , class ConfigR_t , class JacobianOut_t >

void pinocchio::VectorSpaceOperationTpl< Dim, _Scalar, _Options >::dDifference_impl	(	const Eigen::MatrixBase< ConfigL_t > &	,
		const Eigen::MatrixBase< ConfigR_t > &	,
		const Eigen::MatrixBase< JacobianOut_t > &	J
	)		const

inline

Definition at line 80 of file vector-space.hpp.

template<int Dim, typename _Scalar, int _Options>

template<ArgumentPosition arg, class ConfigL_t , class ConfigR_t , class JacobianIn_t , class JacobianOut_t >

void pinocchio::VectorSpaceOperationTpl< Dim, _Scalar, _Options >::dDifference_product_impl	(	const ConfigL_t &	,
		const ConfigR_t &	,
		const JacobianIn_t &	Jin,
		JacobianOut_t &	Jout,
		bool	,
		const AssignmentOperatorType	op
	)		const

inline

Definition at line 91 of file vector-space.hpp.

template<int Dim, typename _Scalar, int _Options>

template<class ConfigL_t , class ConfigR_t , class Tangent_t >

static void pinocchio::VectorSpaceOperationTpl< Dim, _Scalar, _Options >::difference_impl	(	const Eigen::MatrixBase< ConfigL_t > &	q0,
		const Eigen::MatrixBase< ConfigR_t > &	q1,
		const Eigen::MatrixBase< Tangent_t > &	d
	)

inlinestatic

Definition at line 72 of file vector-space.hpp.

template<int Dim, typename _Scalar, int _Options>

template<class Config_t , class Tangent_t , class JacobianOut_t >

static void pinocchio::VectorSpaceOperationTpl< Dim, _Scalar, _Options >::dIntegrate_dq_impl	(	const Eigen::MatrixBase< Config_t > &	,
		const Eigen::MatrixBase< Tangent_t > &	,
		const Eigen::MatrixBase< JacobianOut_t > &	J,
		const AssignmentOperatorType	op = `SETTO`
	)

inlinestatic

Definition at line 130 of file vector-space.hpp.

template<int Dim, typename _Scalar, int _Options>

template<class Config_t , class Tangent_t , class JacobianOut_t >

static void pinocchio::VectorSpaceOperationTpl< Dim, _Scalar, _Options >::dIntegrate_dv_impl	(	const Eigen::MatrixBase< Config_t > &	,
		const Eigen::MatrixBase< Tangent_t > &	,
		const Eigen::MatrixBase< JacobianOut_t > &	J,
		const AssignmentOperatorType	op = `SETTO`
	)

inlinestatic

Definition at line 154 of file vector-space.hpp.

template<int Dim, typename _Scalar, int _Options>

template<class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >

void pinocchio::VectorSpaceOperationTpl< Dim, _Scalar, _Options >::dIntegrate_product_impl	(	const Config_t &	,
		const Tangent_t &	,
		const JacobianIn_t &	Jin,
		JacobianOut_t &	Jout,
		bool	,
		const ArgumentPosition	,
		const AssignmentOperatorType	op
	)		const

inline

Definition at line 178 of file vector-space.hpp.

template<int Dim, typename _Scalar, int _Options>

template<class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >

void pinocchio::VectorSpaceOperationTpl< Dim, _Scalar, _Options >::dIntegrateTransport_dq_impl	(	const Eigen::MatrixBase< Config_t > &	,
		const Eigen::MatrixBase< Tangent_t > &	,
		const Eigen::MatrixBase< JacobianIn_t > &	Jin,
		const Eigen::MatrixBase< JacobianOut_t > &	Jout
	)		const

inline

Definition at line 203 of file vector-space.hpp.

template<int Dim, typename _Scalar, int _Options>

template<class Config_t , class Tangent_t , class Jacobian_t >

void pinocchio::VectorSpaceOperationTpl< Dim, _Scalar, _Options >::dIntegrateTransport_dq_impl	(	const Eigen::MatrixBase< Config_t > &	,
		const Eigen::MatrixBase< Tangent_t > &	,
		const Eigen::MatrixBase< Jacobian_t > &
	)		const

inline

Definition at line 221 of file vector-space.hpp.

template<int Dim, typename _Scalar, int _Options>

template<class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >

void pinocchio::VectorSpaceOperationTpl< Dim, _Scalar, _Options >::dIntegrateTransport_dv_impl	(	const Eigen::MatrixBase< Config_t > &	,
		const Eigen::MatrixBase< Tangent_t > &	,
		const Eigen::MatrixBase< JacobianIn_t > &	Jin,
		const Eigen::MatrixBase< JacobianOut_t > &	Jout
	)		const

inline

Definition at line 212 of file vector-space.hpp.

template<int Dim, typename _Scalar, int _Options>

template<class Config_t , class Tangent_t , class Jacobian_t >

void pinocchio::VectorSpaceOperationTpl< Dim, _Scalar, _Options >::dIntegrateTransport_dv_impl	(	const Eigen::MatrixBase< Config_t > &	,
		const Eigen::MatrixBase< Tangent_t > &	,
		const Eigen::MatrixBase< Jacobian_t > &
	)		const

inline

Definition at line 226 of file vector-space.hpp.

template<int Dim, typename _Scalar, int _Options>

template<class ConfigIn_t , class Velocity_t , class ConfigOut_t >

static void pinocchio::VectorSpaceOperationTpl< Dim, _Scalar, _Options >::integrate_impl	(	const Eigen::MatrixBase< ConfigIn_t > &	q,
		const Eigen::MatrixBase< Velocity_t > &	v,
		const Eigen::MatrixBase< ConfigOut_t > &	qout
	)

inlinestatic

Definition at line 115 of file vector-space.hpp.

template<int Dim, typename _Scalar, int _Options>

template<class Config_t , class Jacobian_t >

static void pinocchio::VectorSpaceOperationTpl< Dim, _Scalar, _Options >::integrateCoeffWiseJacobian_impl	(	const Eigen::MatrixBase< Config_t > &	,
		const Eigen::MatrixBase< Jacobian_t > &	J
	)

inlinestatic

Definition at line 123 of file vector-space.hpp.

template<int Dim, typename _Scalar, int _Options>

bool pinocchio::VectorSpaceOperationTpl< Dim, _Scalar, _Options >::isEqual_impl ( const VectorSpaceOperationTpl< Dim, _Scalar, _Options > & other ) const

inline

Definition at line 273 of file vector-space.hpp.

template<int Dim, typename _Scalar, int _Options>

template<class Config_t >

static bool pinocchio::VectorSpaceOperationTpl< Dim, _Scalar, _Options >::isNormalized_impl	(	const Eigen::MatrixBase< Config_t > &	,
		const Scalar &
	)

inlinestatic

Definition at line 241 of file vector-space.hpp.

template<int Dim, typename _Scalar, int _Options>

std::string pinocchio::VectorSpaceOperationTpl< Dim, _Scalar, _Options >::name ( ) const

inline

Definition at line 65 of file vector-space.hpp.

template<int Dim, typename _Scalar, int _Options>

ConfigVector_t pinocchio::VectorSpaceOperationTpl< Dim, _Scalar, _Options >::neutral ( ) const

inline

Definition at line 60 of file vector-space.hpp.

template<int Dim, typename _Scalar, int _Options>

template<class Config_t >

static void pinocchio::VectorSpaceOperationTpl< Dim, _Scalar, _Options >::normalize_impl ( const Eigen::MatrixBase< Config_t > & )

inlinestatic

Definition at line 237 of file vector-space.hpp.

template<int Dim, typename _Scalar, int _Options>

Index pinocchio::VectorSpaceOperationTpl< Dim, _Scalar, _Options >::nq ( ) const

inline

Definition at line 51 of file vector-space.hpp.

template<int Dim, typename _Scalar, int _Options>

Index pinocchio::VectorSpaceOperationTpl< Dim, _Scalar, _Options >::nv ( ) const

inline

Definition at line 55 of file vector-space.hpp.

template<int Dim, typename _Scalar, int _Options>

pinocchio::VectorSpaceOperationTpl< Dim, _Scalar, _Options >::PINOCCHIO_LIE_GROUP_TPL_PUBLIC_INTERFACE ( VectorSpaceOperationTpl< Dim, _Scalar, _Options > )

template<int Dim, typename _Scalar, int _Options>

template<class Config_t >

void pinocchio::VectorSpaceOperationTpl< Dim, _Scalar, _Options >::random_impl ( const Eigen::MatrixBase< Config_t > & qout ) const

inline

Definition at line 247 of file vector-space.hpp.

template<int Dim, typename _Scalar, int _Options>

template<class ConfigL_t , class ConfigR_t , class ConfigOut_t >

void pinocchio::VectorSpaceOperationTpl< Dim, _Scalar, _Options >::randomConfiguration_impl	(	const Eigen::MatrixBase< ConfigL_t > &	lower_pos_limit,
		const Eigen::MatrixBase< ConfigR_t > &	upper_pos_limit,
		const Eigen::MatrixBase< ConfigOut_t > &	qout
	)		const

inline

Definition at line 254 of file vector-space.hpp.

Member Data Documentation

template<int Dim, typename _Scalar, int _Options>

Eigen::internal::variable_if_dynamic<Index, Dim> pinocchio::VectorSpaceOperationTpl< Dim, _Scalar, _Options >::size_

private

Definition at line 280 of file vector-space.hpp.

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

vector-space.hpp

Public Member Functions

Static Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

template<int Dim, typename _Scalar, int _Options> struct pinocchio::VectorSpaceOperationTpl< Dim, _Scalar, _Options >

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<int Dim, typename _Scalar, int _Options>
struct pinocchio::VectorSpaceOperationTpl< Dim, _Scalar, _Options >