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6 #ifndef __pinocchio_spatial_motion_tpl_hpp__
7 #define __pinocchio_spatial_motion_tpl_hpp__
11 template<
typename _Scalar,
int _Options>
15 typedef Eigen::Matrix<Scalar, 3, 1, _Options>
Vector3;
16 typedef Eigen::Matrix<Scalar, 6, 1, _Options>
Vector6;
17 typedef Eigen::Matrix<Scalar, 4, 4, _Options>
Matrix4;
18 typedef Eigen::Matrix<Scalar, 6, 6, _Options>
Matrix6;
23 typedef typename Vector6::template FixedSegmentReturnType<3>::Type
LinearType;
24 typedef typename Vector6::template FixedSegmentReturnType<3>::Type
AngularType;
25 typedef typename Vector6::template ConstFixedSegmentReturnType<3>::Type
ConstLinearType;
26 typedef typename Vector6::template ConstFixedSegmentReturnType<3>::Type
ConstAngularType;
39 template<
typename _Scalar,
int _Options>
43 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
51 using Base::operator=;
56 using Base::__minus__;
58 using Base::__opposite__;
67 template<
typename V1,
typename V2>
68 MotionTpl(
const Eigen::MatrixBase<V1> &
v,
const Eigen::MatrixBase<V2> &
w)
70 EIGEN_STATIC_ASSERT_VECTOR_ONLY(
V1);
71 EIGEN_STATIC_ASSERT_VECTOR_ONLY(V2);
80 EIGEN_STATIC_ASSERT_VECTOR_ONLY(V6);
88 template<
typename S2,
int O2>
91 *
this = other.template cast<Scalar>();
103 typename std::enable_if<!std::is_convertible<MotionDense<M2>,
MotionTpl>::value,
bool>
::type =
107 linear() =
clone.linear();
108 angular() =
clone.angular();
117 typename std::enable_if<!std::is_convertible<MotionBase<M2>,
MotionTpl>::value,
bool>
::type =
145 inline PlainReturnType
plain()
const
162 return m_data.template segment<3>(ANGULAR);
166 return m_data.template segment<3>(LINEAR);
170 return m_data.template segment<3>(ANGULAR);
174 return m_data.template segment<3>(LINEAR);
177 template<
typename V3>
180 EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(V3, 3);
183 template<
typename V3>
186 EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(V3, 3);
194 return MotionPlain(
m_data +
v.toVector());
197 template<
typename Vector6ArgType>
200 return MotionPlain(
m_data +
v.toVector());
206 return MotionPlain(
m_data -
v.toVector());
209 template<
typename Vector6ArgType>
212 return MotionPlain(
m_data -
v.toVector());
222 template<
typename Vector6ArgType>
236 template<
typename Vector6ArgType>
243 template<
typename OtherScalar>
255 template<
typename NewScalar>
259 ReturnType
res(linear().
template cast<NewScalar>(), angular().
template cast<NewScalar>());
270 #endif // ifndef __pinocchio_spatial_motion_tpl_hpp__
ConstLinearType linear_impl() const
Eigen::Matrix< Scalar, 4, 4, _Options > Matrix4
Vector6::template FixedSegmentReturnType< 3 >::Type LinearType
MotionTpl(const MotionTpl< S2, O2 > &other)
MotionTpl< NewScalar, Options > cast() const
MotionTpl & __pequ__(const MotionTpl< Scalar, O2 > &v)
MotionTpl & operator=(const MotionTpl &clone)
Copy assignment operator.
MotionPlain __mult__(const OtherScalar &alpha) const
PINOCCHIO_EIGEN_REF_CONST_TYPE(Matrix6Like) operator*(const Eigen
Vector6::template ConstFixedSegmentReturnType< 3 >::Type ConstLinearType
Matrix4 HomogeneousMatrixType
MotionRef< Vector6 > MotionRefType
MotionTpl & __pequ__(const MotionRef< Vector6ArgType > &v)
MotionTpl< Scalar, _Options > MotionPlain
ConstAngularType angular_impl() const
Vector6::template ConstFixedSegmentReturnType< 3 >::Type ConstAngularType
MotionPlain __minus__(const MotionTpl< Scalar, O2 > &v) const
Eigen::Matrix< Scalar, 6, 1, _Options > Vector6
PlainReturnType plain() const
void linear_impl(const Eigen::MatrixBase< V3 > &v)
MotionTpl(const Eigen::MatrixBase< V6 > &v)
MotionRef< Vector6 > ref()
Eigen::Matrix< Scalar, 6, 6, _Options > Matrix6
MotionTpl(const MotionTpl &other)
Eigen::Matrix< Scalar, 3, 1, _Options > Vector3
MotionTpl(const MotionDense< M2 > &clone)
Vector6::template FixedSegmentReturnType< 3 >::Type AngularType
ToVectorReturnType toVector_impl()
AngularType angular_impl()
static MotionTpl Random()
virtual CollisionGeometry * clone() const=0
JointCollectionTpl const Eigen::MatrixBase< ConfigVectorType > const Eigen::MatrixBase< TangentVectorType > & v
MotionTpl(const MotionTpl< Scalar, O2 > &clone)
MotionPlain __plus__(const MotionRef< Vector6ArgType > &v) const
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef MotionDense< MotionTpl > Base
MotionTpl & __mequ__(const MotionTpl< Scalar, O2 > &v)
void angular_impl(const Eigen::MatrixBase< V3 > &w)
Common traits structure to fully define base classes for CRTP.
#define PINOCCHIO_EIGEN_REF_TYPE(D)
MotionTpl(const Eigen::MatrixBase< V1 > &v, const Eigen::MatrixBase< V2 > &w)
MotionTpl & __mequ__(const MotionRef< Vector6ArgType > &v)
const typedef MotionPlain & PlainReturnType
MotionTpl(const MotionBase< M2 > &clone)
MOTION_TYPEDEF_TPL(MotionTpl)
ToVectorConstReturnType toVector_impl() const
MotionPlain __minus__(const MotionRef< Vector6ArgType > &v) const
Main pinocchio namespace.
MotionPlain __plus__(const MotionTpl< Scalar, O2 > &v) const
pinocchio
Author(s):
autogenerated on Sun Dec 22 2024 03:41:11