Inheritance diagram for LieGroupGenericTpl< LieGroupCollection >:

Collaboration diagram for LieGroupGenericTpl< LieGroupCollection >:

Public Types
enum	{ Options = LieGroupCollection::Options }
typedef LieGroupCollection::LieGroupVariant	Base
typedef LieGroupCollection::LieGroupVariant	LieGroupVariant
typedef LieGroupCollection::Scalar	Scalar
Public Types inherited from LieGroupBase< LieGroupGenericTpl< LieGroupCollection > >
enum
typedef Eigen::Matrix< Scalar, NQ, 1, Options >	ConfigVector_t
typedef int	Index
typedef Eigen::Matrix< Scalar, NV, NV, Options >	JacobianMatrix_t
typedef LieGroupGenericTpl< LieGroupCollection >	LieGroupDerived
typedef traits< LieGroupDerived >::Scalar	Scalar
typedef Eigen::Matrix< Scalar, NV, 1, Options >	TangentVector_t

Public Member Functions
template<typename LieGroupDerived>
	LieGroupGenericTpl (const LieGroupBase< LieGroupDerived > &lg_base)
	LieGroupGenericTpl (const LieGroupGenericTpl &lg_generic)=default
template<typename LieGroup>
	LieGroupGenericTpl (const LieGroupVariant &lg_variant)
bool	isEqual_impl (const LieGroupGenericTpl &other) const
std::string	name () const
int	nq () const
int	nv () const
bool	operator!= (const LieGroupGenericTpl &other) const
LieGroupGenericTpl &	operator= (const LieGroupGenericTpl &other)=default
bool	operator== (const LieGroupGenericTpl &other) const
LieGroupVariant &	toVariant ()
const LieGroupVariant &	toVariant () const
Public Member Functions inherited from LieGroupBase< LieGroupGenericTpl< LieGroupCollection > >
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.
LieGroupGenericTpl< LieGroupCollection > &	derived ()

Additional Inherited Members
Protected Member Functions inherited from LieGroupBase< LieGroupGenericTpl< LieGroupCollection > >
	LieGroupBase ()
LieGroupBase &	operator= (const LieGroupBase &)

Detailed Description

template<typename LieGroupCollection>
struct pinocchio::LieGroupGenericTpl< LieGroupCollection >

Definition at line 29 of file liegroup-generic.hpp.

Member Typedef Documentation

◆ Base

template<typename LieGroupCollection>

typedef LieGroupCollection::LieGroupVariant Base

Definition at line 33 of file liegroup-generic.hpp.

◆ LieGroupVariant

template<typename LieGroupCollection>

typedef LieGroupCollection::LieGroupVariant LieGroupVariant

Definition at line 34 of file liegroup-generic.hpp.

◆ Scalar

template<typename LieGroupCollection>

typedef LieGroupCollection::Scalar Scalar

Definition at line 36 of file liegroup-generic.hpp.

Member Enumeration Documentation

◆ anonymous enum

template<typename LieGroupCollection>

anonymous enum

Definition at line 37 of file liegroup-generic.hpp.

Constructor & Destructor Documentation

◆ LieGroupGenericTpl() [1/2]

template<typename LieGroupCollection>

template<typename LieGroupDerived>

LieGroupGenericTpl ( const LieGroupBase< LieGroupDerived > & lg_base )

inline

Definition at line 43 of file liegroup-generic.hpp.

◆ LieGroupGenericTpl() [2/2]

template<typename LieGroupCollection>

template<typename LieGroup>

LieGroupGenericTpl ( const LieGroupVariant & lg_variant )

inline

Definition at line 49 of file liegroup-generic.hpp.

Member Function Documentation

◆ isEqual_impl()

template<typename LieGroupCollection>

bool isEqual_impl ( const LieGroupGenericTpl< LieGroupCollection > & other ) const

inline

Definition at line 67 of file liegroup-generic.hpp.

◆ name()

template<typename LieGroupCollection>

std::string name ( ) const

inline

Definition at line 92 of file liegroup-generic.hpp.

◆ nq()

template<typename LieGroupCollection>

int nq ( ) const

inline

Definition at line 73 of file liegroup-generic.hpp.

◆ nv()

template<typename LieGroupCollection>

int nv ( ) const

inline

Definition at line 77 of file liegroup-generic.hpp.

◆ operator!=()

template<typename LieGroupCollection>

bool operator!= ( const LieGroupGenericTpl< LieGroupCollection > & other ) const

inline

Definition at line 87 of file liegroup-generic.hpp.

◆ operator==()

template<typename LieGroupCollection>

bool operator== ( const LieGroupGenericTpl< LieGroupCollection > & other ) const

inline

Definition at line 82 of file liegroup-generic.hpp.

◆ toVariant() [1/2]

template<typename LieGroupCollection>

LieGroupVariant & toVariant ( )

inline

Definition at line 62 of file liegroup-generic.hpp.

◆ toVariant() [2/2]

template<typename LieGroupCollection>

const LieGroupVariant & toVariant ( ) const

inline

Definition at line 57 of file liegroup-generic.hpp.

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

include/pinocchio/multibody/liegroup/fwd.hpp
include/pinocchio/multibody/liegroup/liegroup-generic.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ LieGroupVariant

◆ Scalar

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ LieGroupGenericTpl() [1/2]

◆ LieGroupGenericTpl() [2/2]

Member Function Documentation

◆ isEqual_impl()

◆ name()

◆ nq()

◆ nv()

◆ operator!=()

◆ operator==()

◆ toVariant() [1/2]

◆ toVariant() [2/2]