Inheritance diagram for CartesianProductOperation< LieGroup1, LieGroup2 >:

Collaboration diagram for CartesianProductOperation< LieGroup1, LieGroup2 >:

Public Member Functions
template<ArgumentPosition arg, class ConfigL_t, class ConfigR_t, class JacobianOut_t>
void	dDifference_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< JacobianOut_t > &J) const
template<class ConfigL_t, class ConfigR_t, class Tangent_t>
void	difference_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< Tangent_t > &d) const
template<class Config_t, class Tangent_t, class JacobianOut_t>
void	dIntegrate_dq_impl (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const AssignmentOperatorType op=SETTO) const
template<class Config_t, class Tangent_t, class JacobianOut_t>
void	dIntegrate_dv_impl (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const AssignmentOperatorType op=SETTO) const
template<class Config_t, class Tangent_t, class Jacobian_t>
void	dIntegrateTransport_dq_impl (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< Jacobian_t > &Jin) const
template<class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t>
void	dIntegrateTransport_dq_impl (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &J_in, const Eigen::MatrixBase< JacobianOut_t > &J_out) const
template<class Config_t, class Tangent_t, class Jacobian_t>
void	dIntegrateTransport_dv_impl (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< Jacobian_t > &Jin) const
template<class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t>
void	dIntegrateTransport_dv_impl (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &J_in, const Eigen::MatrixBase< JacobianOut_t > &J_out) const
template<class ConfigIn_t, class Velocity_t, class ConfigOut_t>
void	integrate_impl (const Eigen::MatrixBase< ConfigIn_t > &q, const Eigen::MatrixBase< Velocity_t > &v, const Eigen::MatrixBase< ConfigOut_t > &qout) const
template<class Config_t, class Jacobian_t>
void	integrateCoeffWiseJacobian_impl (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Jacobian_t > &J) const
bool	isEqual_impl (const CartesianProductOperation &other) const
template<class Config_t>
bool	isNormalized_impl (const Eigen::MatrixBase< Config_t > &qin, const Scalar &prec) const
template<class ConfigL_t, class ConfigR_t>
bool	isSameConfiguration_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &prec) const
std::string	name () const
ConfigVector_t	neutral () const
template<class Config_t>
void	normalize_impl (const Eigen::MatrixBase< Config_t > &qout) const
Index	nq () const
Index	nv () const
	PINOCCHIO_LIE_GROUP_TPL_PUBLIC_INTERFACE (CartesianProductOperation)
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, const Eigen::MatrixBase< ConfigR_t > &upper, const Eigen::MatrixBase< ConfigOut_t > &qout) const
template<class ConfigL_t, class ConfigR_t>
Scalar	squaredDistance_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const
Public Member Functions inherited from LieGroupBase< CartesianProductOperation< LieGroup1, LieGroup2 > >
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.
void	integrateCoeffWiseJacobian (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Jacobian_t > &J) const
	Computes the Jacobian of the integrate operator around zero.
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.
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.
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.
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 initial tangent space of the integrate operation, with respect to the configuration or the velocity arguments.
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 initial tangent space of the integrate operation, with respect to the configuration argument.
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 initial tangent space of the integrate operation, with respect to the velocity argument.
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.
void	normalize (const Eigen::MatrixBase< Config_t > &qout) const
	Normalize the joint configuration given as input. For instance, the quaternion must be unitary.
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.
void	random (const Eigen::MatrixBase< Config_t > &qout) const
	Generate a random joint configuration, normalizing quaternions when necessary.
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.
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.
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.
Scalar	squaredDistance (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const
	Squared distance between two joint configurations.
Scalar	distance (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const
	Distance between two configurations of the joint.
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.
bool	operator== (const LieGroupBase &other) const
bool	operator!= (const LieGroupBase &other) 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.
bool	isDifferent_impl (const LieGroupBase &other) const
Index	nq () const
Index	nv () const
	Get dimension of Lie Group tangent space.
ConfigVector_t	neutral () const
	Get neutral element as a vector.
std::string	name () const
	Get name of instance.
CartesianProductOperation< LieGroup1, LieGroup2 > &	derived ()

Public Attributes
LieGroup1	lg1
LieGroup2	lg2

Additional Inherited Members
Public Types inherited from LieGroupBase< CartesianProductOperation< LieGroup1, LieGroup2 > >
enum
typedef Eigen::Matrix< Scalar, NQ, 1, Options >	ConfigVector_t
typedef int	Index
typedef Eigen::Matrix< Scalar, NV, NV, Options >	JacobianMatrix_t
typedef CartesianProductOperation< LieGroup1, LieGroup2 >	LieGroupDerived
typedef traits< LieGroupDerived >::Scalar	Scalar
typedef Eigen::Matrix< Scalar, NV, 1, Options >	TangentVector_t
Protected Member Functions inherited from LieGroupBase< CartesianProductOperation< LieGroup1, LieGroup2 > >
	LieGroupBase ()
LieGroupBase &	operator= (const LieGroupBase &)

Detailed Description

template<typename LieGroup1, typename LieGroup2>
struct pinocchio::CartesianProductOperation< LieGroup1, LieGroup2 >

Definition at line 57 of file cartesian-product.hpp.

Constructor & Destructor Documentation

◆ CartesianProductOperation()

template<typename LieGroup1, typename LieGroup2>

CartesianProductOperation ( )

inline

Definition at line 62 of file cartesian-product.hpp.

Member Function Documentation

◆ dDifference_impl()

template<typename LieGroup1, typename LieGroup2>

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

void dDifference_impl	(	const Eigen::MatrixBase< ConfigL_t > &	q0,
		const Eigen::MatrixBase< ConfigR_t > &	q1,
		const Eigen::MatrixBase< JacobianOut_t > &	J ) const

inline

Definition at line 109 of file cartesian-product.hpp.

◆ difference_impl()

template<typename LieGroup1, typename LieGroup2>

template<class ConfigL_t, class ConfigR_t, class Tangent_t>

void difference_impl	(	const Eigen::MatrixBase< ConfigL_t > &	q0,
		const Eigen::MatrixBase< ConfigR_t > &	q1,
		const Eigen::MatrixBase< Tangent_t > &	d ) const

inline

Definition at line 99 of file cartesian-product.hpp.

◆ dIntegrate_dq_impl()

template<typename LieGroup1, typename LieGroup2>

template<class Config_t, class Tangent_t, class JacobianOut_t>

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

inline

Definition at line 145 of file cartesian-product.hpp.

◆ dIntegrate_dv_impl()

template<typename LieGroup1, typename LieGroup2>

template<class Config_t, class Tangent_t, class JacobianOut_t>

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

inline

Definition at line 169 of file cartesian-product.hpp.

◆ dIntegrateTransport_dq_impl() [1/2]

template<typename LieGroup1, typename LieGroup2>

template<class Config_t, class Tangent_t, class Jacobian_t>

void dIntegrateTransport_dq_impl	(	const Eigen::MatrixBase< Config_t > &	q,
		const Eigen::MatrixBase< Tangent_t > &	v,
		const Eigen::MatrixBase< Jacobian_t > &	Jin ) const

inline

Definition at line 227 of file cartesian-product.hpp.

◆ dIntegrateTransport_dq_impl() [2/2]

template<typename LieGroup1, typename LieGroup2>

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

void dIntegrateTransport_dq_impl	(	const Eigen::MatrixBase< Config_t > &	q,
		const Eigen::MatrixBase< Tangent_t > &	v,
		const Eigen::MatrixBase< JacobianIn_t > &	J_in,
		const Eigen::MatrixBase< JacobianOut_t > &	J_out ) const

inline

Definition at line 193 of file cartesian-product.hpp.

◆ dIntegrateTransport_dv_impl() [1/2]

template<typename LieGroup1, typename LieGroup2>

template<class Config_t, class Tangent_t, class Jacobian_t>

void dIntegrateTransport_dv_impl	(	const Eigen::MatrixBase< Config_t > &	q,
		const Eigen::MatrixBase< Tangent_t > &	v,
		const Eigen::MatrixBase< Jacobian_t > &	Jin ) const

inline

Definition at line 238 of file cartesian-product.hpp.

◆ dIntegrateTransport_dv_impl() [2/2]

template<typename LieGroup1, typename LieGroup2>

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

void dIntegrateTransport_dv_impl	(	const Eigen::MatrixBase< Config_t > &	q,
		const Eigen::MatrixBase< Tangent_t > &	v,
		const Eigen::MatrixBase< JacobianIn_t > &	J_in,
		const Eigen::MatrixBase< JacobianOut_t > &	J_out ) const

inline

Definition at line 210 of file cartesian-product.hpp.

◆ integrate_impl()

template<typename LieGroup1, typename LieGroup2>

template<class ConfigIn_t, class Velocity_t, class ConfigOut_t>

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

inline

Definition at line 122 of file cartesian-product.hpp.

◆ integrateCoeffWiseJacobian_impl()

template<typename LieGroup1, typename LieGroup2>

template<class Config_t, class Jacobian_t>

void integrateCoeffWiseJacobian_impl	(	const Eigen::MatrixBase< Config_t > &	q,
		const Eigen::MatrixBase< Jacobian_t > &	J ) const

inline

Definition at line 132 of file cartesian-product.hpp.

◆ isEqual_impl()

template<typename LieGroup1, typename LieGroup2>

bool isEqual_impl ( const CartesianProductOperation< LieGroup1, LieGroup2 > & other ) const

inline

Definition at line 295 of file cartesian-product.hpp.

◆ isNormalized_impl()

template<typename LieGroup1, typename LieGroup2>

template<class Config_t>

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

inline

Definition at line 263 of file cartesian-product.hpp.

◆ isSameConfiguration_impl()

template<typename LieGroup1, typename LieGroup2>

template<class ConfigL_t, class ConfigR_t>

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

inline

Definition at line 286 of file cartesian-product.hpp.

◆ name()

template<typename LieGroup1, typename LieGroup2>

std::string name ( ) const

inline

Definition at line 91 of file cartesian-product.hpp.

◆ neutral()

template<typename LieGroup1, typename LieGroup2>

ConfigVector_t neutral ( ) const

inline

Definition at line 82 of file cartesian-product.hpp.

◆ normalize_impl()

template<typename LieGroup1, typename LieGroup2>

template<class Config_t>

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

inline

Definition at line 256 of file cartesian-product.hpp.

◆ nq()

template<typename LieGroup1, typename LieGroup2>

Index nq ( ) const

inline

Definition at line 71 of file cartesian-product.hpp.

◆ nv()

template<typename LieGroup1, typename LieGroup2>

Index nv ( ) const

inline

Definition at line 77 of file cartesian-product.hpp.

◆ random_impl()

template<typename LieGroup1, typename LieGroup2>

template<class Config_t>

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

inline

Definition at line 269 of file cartesian-product.hpp.

◆ randomConfiguration_impl()

template<typename LieGroup1, typename LieGroup2>

template<class ConfigL_t, class ConfigR_t, class ConfigOut_t>

void randomConfiguration_impl	(	const Eigen::MatrixBase< ConfigL_t > &	lower,
		const Eigen::MatrixBase< ConfigR_t > &	upper,
		const Eigen::MatrixBase< ConfigOut_t > &	qout ) const

inline

Definition at line 276 of file cartesian-product.hpp.

◆ squaredDistance_impl()

template<typename LieGroup1, typename LieGroup2>

template<class ConfigL_t, class ConfigR_t>

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

inline

Definition at line 249 of file cartesian-product.hpp.

Member Data Documentation

◆ lg1

template<typename LieGroup1, typename LieGroup2>

LieGroup1 lg1

Definition at line 300 of file cartesian-product.hpp.

◆ lg2

template<typename LieGroup1, typename LieGroup2>

LieGroup2 lg2

Definition at line 301 of file cartesian-product.hpp.

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

include/pinocchio/multibody/liegroup/cartesian-product.hpp

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CartesianProductOperation()

Member Function Documentation

◆ dDifference_impl()

◆ difference_impl()

◆ dIntegrate_dq_impl()

◆ dIntegrate_dv_impl()

◆ dIntegrateTransport_dq_impl() [1/2]

◆ dIntegrateTransport_dq_impl() [2/2]

◆ dIntegrateTransport_dv_impl() [1/2]

◆ dIntegrateTransport_dv_impl() [2/2]

◆ integrate_impl()

◆ integrateCoeffWiseJacobian_impl()

◆ isEqual_impl()

◆ isNormalized_impl()

◆ isSameConfiguration_impl()

◆ name()

◆ neutral()

◆ normalize_impl()

◆ nq()

◆ nv()

◆ random_impl()

◆ randomConfiguration_impl()

◆ squaredDistance_impl()

Member Data Documentation

◆ lg1

◆ lg2