Template Struct LogCholeskyParametersTpl
Defined in File inertia.hpp
Struct Documentation
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template<typename _Scalar, int _Options>
struct LogCholeskyParametersTpl A structure representing log Cholesky parameters.
References:
Rucker, Caleb, and Patrick M. Wensing. “Smooth parameterization of rigid-body inertia.” IEEE Robotics and Automation Letters 7.2 (2022): 2771-2778.
Public Functions
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inline explicit LogCholeskyParametersTpl(const Vector10 &log_cholesky)
Constructor for LogCholeskyParametersTpl.
- Parameters:
log_cholesky – A 10-dimensional vector of log Cholesky parameters.
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inline Vector10 toDynamicParameters() const
Converts the LogCholeskyParametersTpl object to dynamic parameters.
- Returns:
A 10-dimensional vector of dynamic parameters.
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inline PseudoInertia toPseudoInertia() const
Converts the LogCholeskyParametersTpl object to a PseudoInertiaTpl object.
- Returns:
A PseudoInertiaTpl object.
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inline InertiaTpl<Scalar, Options> toInertia() const
Converts the LogCholeskyParametersTpl object to an InertiaTpl object.
- Returns:
An InertiaTpl object.
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inline Matrix10 calculateJacobian() const
Calculates the Jacobian of the log Cholesky parameters.
- Returns:
A 10x10 matrix representing the Jacobian.
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template<typename NewScalar>
inline LogCholeskyParametersTpl<NewScalar, Options> cast() const - Returns:
An expression of *this with the Scalar type casted to NewScalar.
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inline void disp_impl(std::ostream &os) const
Friends
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inline friend std::ostream &operator<<(std::ostream &os, const LogCholeskyParametersTpl &lcp)