Inheritance diagram for VectorSpaceOperationTpl< Dim, _Scalar, _Options >:

Collaboration diagram for VectorSpaceOperationTpl< Dim, _Scalar, _Options >:

Public Member Functions
	VectorSpaceOperationTpl (const VectorSpaceOperationTpl &other)
	VectorSpaceOperationTpl (int size=boost::static_signed_max< 0, Dim >::value)
template<ArgumentPosition arg, class ConfigL_t, class ConfigR_t, class JacobianOut_t>
void	dDifference_impl (const Eigen::MatrixBase< ConfigL_t > &, const Eigen::MatrixBase< ConfigR_t > &, const Eigen::MatrixBase< JacobianOut_t > &J) const
bool	isEqual_impl (const VectorSpaceOperationTpl &other) const
std::string	name () const
ConfigVector_t	neutral () const
Index	nq () const
Index	nv () const
VectorSpaceOperationTpl &	operator= (const VectorSpaceOperationTpl &other)
	PINOCCHIO_LIE_GROUP_TPL_PUBLIC_INTERFACE (VectorSpaceOperationTpl)
template<class ConfigL_t, class ConfigR_t, class ConfigOut_t>
void	randomConfiguration_impl (const Eigen::MatrixBase< ConfigL_t > &lower_pos_limit, const Eigen::MatrixBase< ConfigR_t > &upper_pos_limit, const Eigen::MatrixBase< ConfigOut_t > &qout) const
Public Member Functions inherited from LieGroupBase< VectorSpaceOperationTpl< Dim, _Scalar, _Options > >
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.
VectorSpaceOperationTpl< Dim, _Scalar, _Options > &	derived ()

Static Public Member Functions
template<ArgumentPosition arg, class ConfigL_t, class ConfigR_t, class JacobianIn_t, class JacobianOut_t>
static void	dDifference_product_impl (const ConfigL_t &, const ConfigR_t &, const JacobianIn_t &Jin, JacobianOut_t &Jout, bool, const AssignmentOperatorType op)
template<class ConfigL_t, class ConfigR_t, class Tangent_t>
static void	difference_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< Tangent_t > &d)
template<class Config_t, class Tangent_t, class JacobianOut_t>
static void	dIntegrate_dq_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Tangent_t > &, const Eigen::MatrixBase< JacobianOut_t > &J, const AssignmentOperatorType op=SETTO)
template<class Config_t, class Tangent_t, class JacobianOut_t>
static void	dIntegrate_dv_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Tangent_t > &, const Eigen::MatrixBase< JacobianOut_t > &J, const AssignmentOperatorType op=SETTO)
template<class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t>
static void	dIntegrate_product_impl (const Config_t &, const Tangent_t &, const JacobianIn_t &Jin, JacobianOut_t &Jout, bool, const ArgumentPosition, const AssignmentOperatorType op)
template<class Config_t, class Tangent_t, class Jacobian_t>
static void	dIntegrateTransport_dq_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Tangent_t > &, const Eigen::MatrixBase< Jacobian_t > &)
template<class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t>
static void	dIntegrateTransport_dq_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Tangent_t > &, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout)
template<class Config_t, class Tangent_t, class Jacobian_t>
static void	dIntegrateTransport_dv_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Tangent_t > &, const Eigen::MatrixBase< Jacobian_t > &)
template<class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t>
static void	dIntegrateTransport_dv_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Tangent_t > &, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout)
template<class ConfigIn_t, class Velocity_t, class ConfigOut_t>
static void	integrate_impl (const Eigen::MatrixBase< ConfigIn_t > &q, const Eigen::MatrixBase< Velocity_t > &v, const Eigen::MatrixBase< ConfigOut_t > &qout)
template<class Config_t, class Jacobian_t>
static void	integrateCoeffWiseJacobian_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Jacobian_t > &J)
template<class Config_t>
static bool	isNormalized_impl (const Eigen::MatrixBase< Config_t > &, const Scalar &)
template<class Config_t>
static void	normalize_impl (const Eigen::MatrixBase< Config_t > &)
template<class Config_t>
static void	random_impl (const Eigen::MatrixBase< Config_t > &qout)

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

Detailed Description

template<int Dim, typename _Scalar, int _Options>
struct pinocchio::VectorSpaceOperationTpl< Dim, _Scalar, _Options >

Definition at line 31 of file vector-space.hpp.

Constructor & Destructor Documentation

◆ VectorSpaceOperationTpl() [1/2]

template<int Dim, typename _Scalar, int _Options>

VectorSpaceOperationTpl ( int size = boost::static_signed_max<0, Dim>::value )

inline

Constructor

Parameters

size	size of the vector space: should be the equal to template argument for static sized vector-spaces.

Definition at line 39 of file vector-space.hpp.

◆ VectorSpaceOperationTpl() [2/2]

template<int Dim, typename _Scalar, int _Options>

VectorSpaceOperationTpl ( const VectorSpaceOperationTpl< Dim, _Scalar, _Options > & other )

inline

Constructor

Parameters

other other VectorSpaceOperationTpl from which to retrieve size

Definition at line 47 of file vector-space.hpp.

Member Function Documentation

◆ dDifference_impl()

template<int Dim, typename _Scalar, int _Options>

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

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

inline

Definition at line 92 of file vector-space.hpp.

◆ dDifference_product_impl()

template<int Dim, typename _Scalar, int _Options>

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

void dDifference_product_impl	(	const ConfigL_t &	,
		const ConfigR_t &	,
		const JacobianIn_t &	Jin,
		JacobianOut_t &	Jout,
		bool	,
		const AssignmentOperatorType	op )

inlinestatic

Definition at line 110 of file vector-space.hpp.

◆ difference_impl()

template<int Dim, typename _Scalar, int _Options>

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 )

inlinestatic

Definition at line 83 of file vector-space.hpp.

◆ dIntegrate_dq_impl()

template<int Dim, typename _Scalar, int _Options>

template<class Config_t, class Tangent_t, class JacobianOut_t>

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

inlinestatic

Definition at line 158 of file vector-space.hpp.

◆ dIntegrate_dv_impl()

template<int Dim, typename _Scalar, int _Options>

template<class Config_t, class Tangent_t, class JacobianOut_t>

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

inlinestatic

Definition at line 183 of file vector-space.hpp.

◆ dIntegrate_product_impl()

template<int Dim, typename _Scalar, int _Options>

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

void dIntegrate_product_impl	(	const Config_t &	,
		const Tangent_t &	,
		const JacobianIn_t &	Jin,
		JacobianOut_t &	Jout,
		bool	,
		const ArgumentPosition	,
		const AssignmentOperatorType	op )

inlinestatic

Definition at line 208 of file vector-space.hpp.

◆ dIntegrateTransport_dq_impl() [1/2]

template<int Dim, typename _Scalar, int _Options>

template<class Config_t, class Tangent_t, class Jacobian_t>

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

inlinestatic

Definition at line 255 of file vector-space.hpp.

◆ dIntegrateTransport_dq_impl() [2/2]

template<int Dim, typename _Scalar, int _Options>

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

void dIntegrateTransport_dq_impl	(	const Eigen::MatrixBase< Config_t > &	,
		const Eigen::MatrixBase< Tangent_t > &	,
		const Eigen::MatrixBase< JacobianIn_t > &	Jin,
		const Eigen::MatrixBase< JacobianOut_t > &	Jout )

inlinestatic

Definition at line 235 of file vector-space.hpp.

◆ dIntegrateTransport_dv_impl() [1/2]

template<int Dim, typename _Scalar, int _Options>

template<class Config_t, class Tangent_t, class Jacobian_t>

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

inlinestatic

Definition at line 263 of file vector-space.hpp.

◆ dIntegrateTransport_dv_impl() [2/2]

template<int Dim, typename _Scalar, int _Options>

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

void dIntegrateTransport_dv_impl	(	const Eigen::MatrixBase< Config_t > &	,
		const Eigen::MatrixBase< Tangent_t > &	,
		const Eigen::MatrixBase< JacobianIn_t > &	Jin,
		const Eigen::MatrixBase< JacobianOut_t > &	Jout )

inlinestatic

Definition at line 245 of file vector-space.hpp.

◆ integrate_impl()

template<int Dim, typename _Scalar, int _Options>

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 )

inlinestatic

Definition at line 142 of file vector-space.hpp.

◆ integrateCoeffWiseJacobian_impl()

template<int Dim, typename _Scalar, int _Options>

template<class Config_t, class Jacobian_t>

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

inlinestatic

Definition at line 151 of file vector-space.hpp.

◆ isEqual_impl()

template<int Dim, typename _Scalar, int _Options>

bool isEqual_impl ( const VectorSpaceOperationTpl< Dim, _Scalar, _Options > & other ) const

inline

Definition at line 314 of file vector-space.hpp.

◆ isNormalized_impl()

template<int Dim, typename _Scalar, int _Options>

template<class Config_t>

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

inlinestatic

Definition at line 281 of file vector-space.hpp.

◆ name()

template<int Dim, typename _Scalar, int _Options>

std::string name ( ) const

inline

Definition at line 75 of file vector-space.hpp.

◆ neutral()

template<int Dim, typename _Scalar, int _Options>

ConfigVector_t neutral ( ) const

inline

Definition at line 70 of file vector-space.hpp.

◆ normalize_impl()

template<int Dim, typename _Scalar, int _Options>

template<class Config_t>

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

inlinestatic

Definition at line 275 of file vector-space.hpp.

◆ nq()

template<int Dim, typename _Scalar, int _Options>

Index nq ( ) const

inline

Definition at line 61 of file vector-space.hpp.

◆ nv()

template<int Dim, typename _Scalar, int _Options>

Index nv ( ) const

inline

Definition at line 65 of file vector-space.hpp.

◆ operator=()

template<int Dim, typename _Scalar, int _Options>

VectorSpaceOperationTpl & operator= ( const VectorSpaceOperationTpl< Dim, _Scalar, _Options > & other )

inline

Definition at line 54 of file vector-space.hpp.

◆ random_impl()

template<int Dim, typename _Scalar, int _Options>

template<class Config_t>

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

inlinestatic

Definition at line 287 of file vector-space.hpp.

◆ randomConfiguration_impl()

template<int Dim, typename _Scalar, int _Options>

template<class ConfigL_t, class ConfigR_t, class ConfigOut_t>

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

inline

Definition at line 293 of file vector-space.hpp.

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

include/pinocchio/multibody/liegroup/vector-space.hpp

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ VectorSpaceOperationTpl() [1/2]

◆ VectorSpaceOperationTpl() [2/2]

Member Function Documentation

◆ dDifference_impl()

◆ dDifference_product_impl()

◆ difference_impl()

◆ dIntegrate_dq_impl()

◆ dIntegrate_dv_impl()

◆ dIntegrate_product_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()

◆ name()

◆ neutral()

◆ normalize_impl()

◆ nq()

◆ nv()

◆ operator=()

◆ random_impl()

◆ randomConfiguration_impl()