include
pinocchio
multibody
liegroup
liegroup.hpp
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//
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// Copyright (c) 2016-2019 CNRS INRIA
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//
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#ifndef __pinocchio_lie_group_hpp__
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#define __pinocchio_lie_group_hpp__
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#include "
pinocchio/multibody/liegroup/vector-space.hpp
"
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#include "
pinocchio/multibody/liegroup/cartesian-product.hpp
"
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#include "
pinocchio/multibody/liegroup/special-orthogonal.hpp
"
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#include "
pinocchio/multibody/liegroup/special-euclidean.hpp
"
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#include "
pinocchio/multibody/joint/fwd.hpp
"
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namespace
pinocchio
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{
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struct
LieGroupMap
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{
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template
<
typename
Jo
int
Model>
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struct
operation
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{
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typedef
VectorSpaceOperationTpl
<
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JointModel::NQ
,
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typename
JointModel::Scalar
,
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JointModel::Options
>
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type
;
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};
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};
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template
<
typename
Jo
int
Model>
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struct
LieGroup
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{
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typedef
typename
LieGroupMap::operation<JointModel>::type
type
;
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};
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template
<
typename
Scalar,
int
Options,
template
<
typename
S,
int
O>
class
JointCollectionTpl>
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struct
LieGroupMap::operation
<
JointModelCompositeTpl
<
Scalar
,
Options
, JointCollectionTpl>>
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{
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};
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template
<
typename
Scalar,
int
Options>
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struct
LieGroupMap::operation
<
JointModelSphericalTpl
<
Scalar
,
Options
>>
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{
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typedef
SpecialOrthogonalOperationTpl<3, Scalar, Options>
type
;
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};
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template
<
typename
Scalar,
int
Options>
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struct
LieGroupMap::operation
<
JointModelFreeFlyerTpl
<
Scalar
,
Options
>>
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{
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typedef
SpecialEuclideanOperationTpl<3, Scalar, Options>
type
;
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};
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template
<
typename
Scalar,
int
Options>
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struct
LieGroupMap::operation
<
JointModelPlanarTpl
<
Scalar
,
Options
>>
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{
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typedef
SpecialEuclideanOperationTpl<2, Scalar, Options>
type
;
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};
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template
<
typename
Scalar,
int
Options,
int
axis>
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struct
LieGroupMap::operation
<
JointModelRevoluteUnboundedTpl
<
Scalar
,
Options
,
axis
>>
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{
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typedef
SpecialOrthogonalOperationTpl<2, Scalar, Options>
type
;
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};
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template
<
typename
Scalar,
int
Options>
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struct
LieGroupMap::operation
<
JointModelRevoluteUnboundedUnalignedTpl
<
Scalar
,
Options
>>
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{
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typedef
SpecialOrthogonalOperationTpl<2, Scalar, Options>
type
;
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};
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}
// namespace pinocchio
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#endif // ifndef __pinocchio_lie_group_hpp__
pinocchio::SpecialEuclideanOperationTpl
Definition:
special-euclidean.hpp:25
pinocchio::JointModelRevoluteUnboundedUnalignedTpl
Definition:
multibody/joint/fwd.hpp:46
pinocchio::JointModelPlanarTpl
Definition:
multibody/joint/fwd.hpp:118
cartesian-product.hpp
pinocchio::Options
Options
Definition:
joint-configuration.hpp:1082
pinocchio::python::Scalar
context::Scalar Scalar
Definition:
admm-solver.cpp:29
pinocchio::JointModelFreeFlyerTpl
Definition:
multibody/joint/fwd.hpp:110
pinocchio::LieGroupMap::operation< JointModelRevoluteUnboundedTpl< Scalar, Options, axis > >::type
SpecialOrthogonalOperationTpl< 2, Scalar, Options > type
Definition:
liegroup.hpp:62
pinocchio::python::Options
@ Options
Definition:
expose-contact-inverse-dynamics.cpp:22
pinocchio::LieGroupMap::operation< JointModelSphericalTpl< Scalar, Options > >::type
SpecialOrthogonalOperationTpl< 3, Scalar, Options > type
Definition:
liegroup.hpp:44
pinocchio::LieGroupMap::operation::type
VectorSpaceOperationTpl< JointModel::NQ, typename JointModel::Scalar, JointModel::Options > type
Definition:
liegroup.hpp:26
pinocchio::LieGroupMap
Definition:
liegroup.hpp:17
pinocchio::SpecialOrthogonalOperationTpl
Definition:
special-orthogonal.hpp:18
special-orthogonal.hpp
vector-space.hpp
pinocchio::LieGroupMap::operation< JointModelPlanarTpl< Scalar, Options > >::type
SpecialEuclideanOperationTpl< 2, Scalar, Options > type
Definition:
liegroup.hpp:56
pinocchio::JointModelSphericalTpl
Definition:
multibody/joint/fwd.hpp:73
axis
axis
pinocchio::LieGroupMap::operation
Definition:
liegroup.hpp:20
pinocchio::LieGroup
Definition:
liegroup.hpp:31
pinocchio::JointModelCompositeTpl
Definition:
multibody/joint/fwd.hpp:141
pinocchio::LieGroupMap::operation< JointModelRevoluteUnboundedUnalignedTpl< Scalar, Options > >::type
SpecialOrthogonalOperationTpl< 2, Scalar, Options > type
Definition:
liegroup.hpp:68
pinocchio::LieGroup::type
LieGroupMap::operation< JointModel >::type type
Definition:
liegroup.hpp:33
fwd.hpp
special-euclidean.hpp
pinocchio::VectorSpaceOperationTpl
Definition:
vector-space.hpp:16
pinocchio::LieGroupMap::operation< JointModelFreeFlyerTpl< Scalar, Options > >::type
SpecialEuclideanOperationTpl< 3, Scalar, Options > type
Definition:
liegroup.hpp:50
dpendulum.NQ
int NQ
Definition:
dpendulum.py:9
pinocchio::JointModelRevoluteUnboundedTpl
Definition:
multibody/joint/fwd.hpp:55
pinocchio
Main pinocchio namespace.
Definition:
timings.cpp:27
pinocchio
Author(s):
autogenerated on Sun Dec 22 2024 03:41:11