pinocchio  3.9.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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LogCholeskyParametersTpl< _Scalar, _Options > Struct Template Reference
Spatial

A structure representing log Cholesky parameters. More...

#include <pinocchio/spatial/inertia.hpp>

Public Types

enum  { Options = _Options }
typedef Eigen::Matrix< Scalar, 10, 10, Options > Matrix10
typedef PseudoInertiaTpl< Scalar, Options > PseudoInertia
typedef _Scalar Scalar
typedef Eigen::Matrix< Scalar, 10, 1, Options > Vector10

Public Member Functions

 LogCholeskyParametersTpl (const Vector10 &log_cholesky)
 Constructor for LogCholeskyParametersTpl.
Matrix10 calculateJacobian () const
 Calculates the Jacobian of the log Cholesky parameters.
template<typename NewScalar>
LogCholeskyParametersTpl< NewScalar, Options > cast () const
void disp_impl (std::ostream &os) const
Vector10 toDynamicParameters () const
 Converts the LogCholeskyParametersTpl object to dynamic parameters.
InertiaTpl< Scalar, Options > toInertia () const
 Converts the LogCholeskyParametersTpl object to an InertiaTpl object.
PseudoInertia toPseudoInertia () const
 Converts the LogCholeskyParametersTpl object to a PseudoInertiaTpl object.

Public Attributes

Vector10 parameters
 10-dimensional vector of log Cholesky parameters

Friends

std::ostream & operator<< (std::ostream &os, const LogCholeskyParametersTpl &lcp)

Detailed Description

template<typename _Scalar, int _Options>
struct pinocchio::LogCholeskyParametersTpl< _Scalar, _Options >

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.

Definition at line 1103 of file inertia.hpp.

Member Typedef Documentation

◆ Matrix10

template<typename _Scalar, int _Options>
typedef Eigen::Matrix<Scalar, 10, 10, Options> Matrix10

Definition at line 1111 of file inertia.hpp.

◆ PseudoInertia

template<typename _Scalar, int _Options>
typedef PseudoInertiaTpl<Scalar, Options> PseudoInertia

Definition at line 1112 of file inertia.hpp.

◆ Scalar

template<typename _Scalar, int _Options>
typedef _Scalar Scalar

Definition at line 1105 of file inertia.hpp.

◆ Vector10

template<typename _Scalar, int _Options>
typedef Eigen::Matrix<Scalar, 10, 1, Options> Vector10

Definition at line 1110 of file inertia.hpp.

Member Enumeration Documentation

◆ anonymous enum

template<typename _Scalar, int _Options>
anonymous enum

Definition at line 1106 of file inertia.hpp.

Constructor & Destructor Documentation

◆ LogCholeskyParametersTpl()

template<typename _Scalar, int _Options>
LogCholeskyParametersTpl(const Vector10 &log_cholesky)
inlineexplicit

Constructor for LogCholeskyParametersTpl.

Parameters
log_choleskyA 10-dimensional vector of log Cholesky parameters.

Definition at line 1119 of file inertia.hpp.

Member Function Documentation

◆ calculateJacobian()

template<typename _Scalar, int _Options>
Matrix10 calculateJacobian()const
inline

Calculates the Jacobian of the log Cholesky parameters.

Returns
A 10x10 matrix representing the Jacobian.

Definition at line 1192 of file inertia.hpp.

◆ cast()

template<typename _Scalar, int _Options>
template<typename NewScalar>
LogCholeskyParametersTpl< NewScalar, Options > cast()const
inline
Returns
An expression of *this with the Scalar type casted to NewScalar.

Definition at line 1280 of file inertia.hpp.

◆ disp_impl()

template<typename _Scalar, int _Options>
void disp_impl(std::ostream &os)const
inline

Definition at line 1285 of file inertia.hpp.

◆ toDynamicParameters()

template<typename _Scalar, int _Options>
Vector10 toDynamicParameters()const
inline

Converts the LogCholeskyParametersTpl object to dynamic parameters.

Returns
A 10-dimensional vector of dynamic parameters.

Definition at line 1127 of file inertia.hpp.

◆ toInertia()

template<typename _Scalar, int _Options>
InertiaTpl< Scalar, Options > toInertia()const
inline

Converts the LogCholeskyParametersTpl object to an InertiaTpl object.

Returns
An InertiaTpl object.

Definition at line 1182 of file inertia.hpp.

◆ toPseudoInertia()

template<typename _Scalar, int _Options>
PseudoInertia toPseudoInertia()const
inline

Converts the LogCholeskyParametersTpl object to a PseudoInertiaTpl object.

Returns
A PseudoInertiaTpl object.

Definition at line 1172 of file inertia.hpp.

◆ operator<<

template<typename _Scalar, int _Options>
std::ostream & operator<<(std::ostream &os,
const LogCholeskyParametersTpl< _Scalar, _Options > &lcp )
friend

Definition at line 1299 of file inertia.hpp.

Member Data Documentation

◆ parameters

template<typename _Scalar, int _Options>
Vector10 parameters

10-dimensional vector of log Cholesky parameters

Definition at line 1114 of file inertia.hpp.

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