Template Struct SE3Base
Defined in File se3-base.hpp
Inheritance Relationships
Base Type
public pinocchio::NumericalBase< Derived >
(Template Struct NumericalBase)
Derived Types
public pinocchio::SE3Tpl< Scalar, Options >
(Template Struct SE3Tpl)public pinocchio::SE3Tpl< context::Scalar, context::Options >
(Template Struct SE3Tpl)
Struct Documentation
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template<class Derived>
struct SE3Base : public pinocchio::NumericalBase<Derived> Base class for rigid transformation.
The rigid transform aMb can be seen in two ways:
given a point p expressed in frame B by its coordinate vector
, computes its coordinates in frame A by . displaces a solid S centered at frame A into the solid centered in B. In particular, the origin of A is displaced at the origin of B: .
The rigid displacement is stored as a rotation matrix and translation vector by:
where is the vector from origin A to origin B expressed in coordinates A.\cheatsheet
Subclassed by pinocchio::SE3Tpl< Scalar, Options >, pinocchio::SE3Tpl< context::Scalar, context::Options >
Public Functions
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inline ConstAngularRef rotation() const
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inline ConstLinearRef translation() const
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inline AngularRef rotation()
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inline LinearRef translation()
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inline void rotation(const AngularType &R)
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inline void translation(const LinearType &t)
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inline HomogeneousMatrixType toHomogeneousMatrix() const
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inline operator HomogeneousMatrixType() const
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inline ActionMatrixType toActionMatrix() const
The action matrix
of .With
,\cheatsheet
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inline operator ActionMatrixType() const
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template<typename Matrix6Like>
inline void toActionMatrix(const Eigen::MatrixBase<Matrix6Like> &action_matrix) const
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inline ActionMatrixType toActionMatrixInverse() const
The action matrix
of .See also
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template<typename Matrix6Like>
inline void toActionMatrixInverse(const Eigen::MatrixBase<Matrix6Like> &action_matrix_inverse) const
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inline ActionMatrixType toDualActionMatrix() const
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inline void disp(std::ostream &os) const
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template<typename Matrix6Like>
inline void toDualActionMatrix(const Eigen::MatrixBase<Matrix6Like> &dual_action_matrix) const
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inline SE3GroupAction<Derived>::ReturnType operator*(const Derived &m2) const
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template<typename D>
inline SE3GroupAction<D>::ReturnType act(const D &d) const ay = aXb.act(by)
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template<typename D>
inline SE3GroupAction<D>::ReturnType actInv(const D &d) const by = aXb.actInv(ay)
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inline bool isApprox(const Derived &other, const Scalar &prec = Eigen::NumTraits<Scalar>::dummy_precision()) const
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inline bool isIdentity(const typename traits<Derived>::Scalar &prec = Eigen::NumTraits<typename traits<Derived>::Scalar>::dummy_precision()) const
- Returns:
true if *this is approximately equal to the identity placement, within the precision given by prec.
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inline bool isNormalized(const Scalar &prec = Eigen::NumTraits<Scalar>::dummy_precision()) const
- Returns:
true if the rotational part of *this is a rotation matrix (normalized columns), within the precision given by prec.
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inline void normalize()
Normalize *this in such a way the rotation part of *this lies on SO(3).
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inline PlainType normalized() const
- Returns:
a Normalized version of *this, in such a way the rotation part of the returned transformation lies on SO(3).