Dynamic Cartesian product composed of elementary Lie groups defined in LieGroupVariant. More...

#include <pinocchio/multibody/liegroup/cartesian-product-variant.hpp>

Inheritance diagram for CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >:

Collaboration diagram for CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >:

Public Types
typedef LieGroupCollectionTpl< Scalar, Options >	LieGroupCollection
typedef LieGroupGenericTpl< LieGroupCollection >	LieGroupGeneric
typedef LieGroupCollection::LieGroupVariant	LieGroupVariant
Public Types inherited from LieGroupBase< CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl > >
enum
typedef Eigen::Matrix< Scalar, NQ, 1, Options >	ConfigVector_t
typedef int	Index
typedef Eigen::Matrix< Scalar, NV, NV, Options >	JacobianMatrix_t
typedef CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >	LieGroupDerived
typedef traits< LieGroupDerived >::Scalar	Scalar
typedef Eigen::Matrix< Scalar, NV, 1, Options >	TangentVector_t

Public Member Functions
	CartesianProductOperationVariantTpl ()
	Default constructor.
	CartesianProductOperationVariantTpl (const LieGroupGeneric &lg)
	Constructor with one single Lie group.
	CartesianProductOperationVariantTpl (const LieGroupGeneric &lg1, const LieGroupGeneric &lg2)
	Constructor with two Lie groups.
template<typename LieGroupDerived>
void	append (const LieGroupBase< LieGroupDerived > &lg)
	Append a Lie group to the Cartesian product.
void	append (const LieGroupGeneric &lg)
	Append a Lie group to the Cartesian product.
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<ArgumentPosition arg, class ConfigL_t, class ConfigR_t, class JacobianIn_t, class JacobianOut_t>
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
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 JacobianIn_t, class JacobianOut_t>
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
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 JacobianOut_t>
void	dIntegrateTransport_dq_impl (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J) 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 Config_t, class Tangent_t, class JacobianOut_t>
void	dIntegrateTransport_dv_impl (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J) 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
template<typename LieGroup1, typename LieGroup2>
bool	isEqual (const CartesianProductOperation< LieGroup1, LieGroup2 > &other) const
bool	isEqual_impl (const CartesianProductOperationVariantTpl &other) const
template<class Config_t>
bool	isNormalized_impl (const Eigen::MatrixBase< Config_t > &qout, 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
int	nq () const
int	nv () const
CartesianProductOperationVariantTpl	operator* (const CartesianProductOperationVariantTpl &other) const
	Cartesian product between *this and other.
CartesianProductOperationVariantTpl &	operator*= (const CartesianProductOperationVariantTpl &other)
	Append other to *this.
template<typename LieGroupDerived>
CartesianProductOperationVariantTpl &	operator*= (const LieGroupBase< LieGroupDerived > &lg)
	Append a Lie group to *this.
CartesianProductOperationVariantTpl &	operator*= (const LieGroupGeneric &lg)
	Append a Lie group to *this.
	PINOCCHIO_LIE_GROUP_TPL_PUBLIC_INTERFACE (CartesianProductOperationVariantTpl)
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< CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl > >
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.
CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl > &	derived ()

Protected Member Functions
	PINOCCHIO_ALIGNED_STD_VECTOR (LieGroupGeneric) liegroups
Protected Member Functions inherited from LieGroupBase< CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl > >
	LieGroupBase ()
LieGroupBase &	operator= (const LieGroupBase &)

Protected Attributes
std::vector< Index >	lg_nqs
std::vector< Index >	lg_nvs
std::string	m_name
ConfigVector_t	m_neutral
Index	m_nq
Index	m_nv

Detailed Description

template<typename _Scalar, int _Options, template< typename, int > class LieGroupCollectionTpl>
struct pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >

Dynamic Cartesian product composed of elementary Lie groups defined in LieGroupVariant.

Definition at line 43 of file cartesian-product-variant.hpp.

Member Typedef Documentation

◆ LieGroupCollection

template<typename _Scalar, int _Options, template< typename, int > class LieGroupCollectionTpl>

typedef LieGroupCollectionTpl<Scalar, Options> LieGroupCollection

Definition at line 51 of file cartesian-product-variant.hpp.

◆ LieGroupGeneric

template<typename _Scalar, int _Options, template< typename, int > class LieGroupCollectionTpl>

typedef LieGroupGenericTpl<LieGroupCollection> LieGroupGeneric

Definition at line 53 of file cartesian-product-variant.hpp.

◆ LieGroupVariant

template<typename _Scalar, int _Options, template< typename, int > class LieGroupCollectionTpl>

typedef LieGroupCollection::LieGroupVariant LieGroupVariant

Definition at line 52 of file cartesian-product-variant.hpp.

Constructor & Destructor Documentation

◆ CartesianProductOperationVariantTpl() [1/3]

template<typename _Scalar, int _Options, template< typename, int > class LieGroupCollectionTpl>

CartesianProductOperationVariantTpl ( )

inline

Default constructor.

Definition at line 56 of file cartesian-product-variant.hpp.

◆ CartesianProductOperationVariantTpl() [2/3]

template<typename _Scalar, int _Options, template< typename, int > class LieGroupCollectionTpl>

CartesianProductOperationVariantTpl ( const LieGroupGeneric & lg )

inlineexplicit

Constructor with one single Lie group.

Parameters

[in] lg Lie group variant to insert inside the Cartesian product

Definition at line 68 of file cartesian-product-variant.hpp.

◆ CartesianProductOperationVariantTpl() [3/3]

template<typename _Scalar, int _Options, template< typename, int > class LieGroupCollectionTpl>

CartesianProductOperationVariantTpl	(	const LieGroupGeneric &	lg1,
		const LieGroupGeneric &	lg2 )

inline

Constructor with two Lie groups.

Parameters

[in]	lg1	Lie group variant to insert inside the Cartesian product
[in]	lg2	Lie group variant to insert inside the Cartesian product

Definition at line 84 of file cartesian-product-variant.hpp.

Member Function Documentation

◆ append() [1/2]

template<typename _Scalar, int _Options, template< typename, int > class LieGroupCollectionTpl>

template<typename LieGroupDerived>

void append ( const LieGroupBase< LieGroupDerived > & lg )

inline

Append a Lie group to the Cartesian product.

Parameters

[in] lg Lie group to insert inside the Cartesian product

Definition at line 108 of file cartesian-product-variant.hpp.

◆ append() [2/2]

template<typename _Scalar, int _Options, template< typename, int > class LieGroupCollectionTpl>

void append ( const LieGroupGeneric & lg )

Append a Lie group to the Cartesian product.

Parameters

[in] lg Lie group variant to insert inside the Cartesian product

◆ name()

template<typename _Scalar, int _Options, template< typename, int > class LieGroupCollectionTpl>

std::string name ( ) const

inline

Definition at line 165 of file cartesian-product-variant.hpp.

◆ neutral()

template<typename _Scalar, int _Options, template< typename, int > class LieGroupCollectionTpl>

ConfigVector_t neutral ( ) const

inline

Definition at line 170 of file cartesian-product-variant.hpp.

◆ nq()

template<typename _Scalar, int _Options, template< typename, int > class LieGroupCollectionTpl>

int nq ( ) const

inline

Definition at line 156 of file cartesian-product-variant.hpp.

◆ nv()

template<typename _Scalar, int _Options, template< typename, int > class LieGroupCollectionTpl>

int nv ( ) const

inline

Definition at line 160 of file cartesian-product-variant.hpp.

◆ operator*()

template<typename _Scalar, int _Options, template< typename, int > class LieGroupCollectionTpl>

CartesianProductOperationVariantTpl operator* ( const CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl > & other ) const

Cartesian product between *this and other.

Parameters

[in] other CartesianProductOperation to compose with this

Returns: A new Cartesian product betwenn *this and other.

◆ operator*=() [1/3]

template<typename _Scalar, int _Options, template< typename, int > class LieGroupCollectionTpl>

CartesianProductOperationVariantTpl & operator*= ( const CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl > & other )

Append other to *this.

Parameters

[in] other CartesianProductOperation to append to *this.

◆ operator*=() [2/3]

template<typename _Scalar, int _Options, template< typename, int > class LieGroupCollectionTpl>

template<typename LieGroupDerived>

CartesianProductOperationVariantTpl & operator*= ( const LieGroupBase< LieGroupDerived > & lg )

inline

Append a Lie group to *this.

Parameters

[in] lg LieGroupGeneric to append to *this.

Definition at line 150 of file cartesian-product-variant.hpp.

◆ operator*=() [3/3]

template<typename _Scalar, int _Options, template< typename, int > class LieGroupCollectionTpl>

CartesianProductOperationVariantTpl & operator*= ( const LieGroupGeneric & lg )

inline

Append a Lie group to *this.

Parameters

[in] lg LieGroupGeneric to append to *this.

Definition at line 137 of file cartesian-product-variant.hpp.

Member Data Documentation

◆ lg_nqs

template<typename _Scalar, int _Options, template< typename, int > class LieGroupCollectionTpl>

std::vector<Index> lg_nqs

protected

Definition at line 294 of file cartesian-product-variant.hpp.

◆ lg_nvs

template<typename _Scalar, int _Options, template< typename, int > class LieGroupCollectionTpl>

std::vector<Index> lg_nvs

protected

Definition at line 294 of file cartesian-product-variant.hpp.

◆ m_name

template<typename _Scalar, int _Options, template< typename, int > class LieGroupCollectionTpl>

std::string m_name

protected

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

◆ m_neutral

template<typename _Scalar, int _Options, template< typename, int > class LieGroupCollectionTpl>

ConfigVector_t m_neutral

protected

Definition at line 297 of file cartesian-product-variant.hpp.

◆ m_nq

template<typename _Scalar, int _Options, template< typename, int > class LieGroupCollectionTpl>

Index m_nq

protected

Definition at line 293 of file cartesian-product-variant.hpp.

◆ m_nv

template<typename _Scalar, int _Options, template< typename, int > class LieGroupCollectionTpl>

Index m_nv

protected

Definition at line 293 of file cartesian-product-variant.hpp.

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

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ LieGroupCollection

◆ LieGroupGeneric

◆ LieGroupVariant

Constructor & Destructor Documentation

◆ CartesianProductOperationVariantTpl() [1/3]

◆ CartesianProductOperationVariantTpl() [2/3]

◆ CartesianProductOperationVariantTpl() [3/3]

Member Function Documentation

◆ append() [1/2]

◆ append() [2/2]

◆ name()

◆ neutral()

◆ nq()

◆ nv()

◆ operator*()

◆ operator*=() [1/3]

◆ operator*=() [2/3]

◆ operator*=() [3/3]

Member Data Documentation

◆ lg_nqs

◆ lg_nvs

◆ m_name

◆ m_neutral

◆ m_nq

◆ m_nv