Public Types
typedef Eigen::Matrix< context::Scalar, Eigen::Dynamic, 1 >	ConfigVector_t
typedef Eigen::Matrix< context::Scalar, Eigen::Dynamic, Eigen::Dynamic >	JacobianMatrix_t
typedef Eigen::Matrix< context::Scalar, Eigen::Dynamic, 1 >	TangentVector_t

Static Public Member Functions
static JacobianMatrix_t	dDifference1 (const LieGroupType &lg, const ConfigVector_t &q0, const ConfigVector_t &q1, const ArgumentPosition arg)
static JacobianMatrix_t	dDifference2 (const LieGroupType &lg, const ConfigVector_t &q0, const ConfigVector_t &q1, const ArgumentPosition arg, const JacobianMatrix_t &Jin, int self)
static JacobianMatrix_t	dDifference3 (const LieGroupType &lg, const ConfigVector_t &q0, const ConfigVector_t &q1, const ArgumentPosition arg, int self, const JacobianMatrix_t &Jin)
static TangentVector_t	difference (const LieGroupType &lg, const ConfigVector_t &q0, const ConfigVector_t &q1)
static JacobianMatrix_t	dIntegrate (const LieGroupType &lg, const ConfigVector_t &q, const TangentVector_t &v, const ArgumentPosition arg)
static JacobianMatrix_t	dIntegrate_dq1 (const LieGroupType &lg, const ConfigVector_t &q, const TangentVector_t &v)
static JacobianMatrix_t	dIntegrate_dq2 (const LieGroupType &lg, const ConfigVector_t &q, const TangentVector_t &v, const JacobianMatrix_t &Jin, int self)
static JacobianMatrix_t	dIntegrate_dq3 (const LieGroupType &lg, const ConfigVector_t &q, const TangentVector_t &v, int self, const JacobianMatrix_t &Jin)
static JacobianMatrix_t	dIntegrate_dv1 (const LieGroupType &lg, const ConfigVector_t &q, const TangentVector_t &v)
static JacobianMatrix_t	dIntegrate_dv2 (const LieGroupType &lg, const ConfigVector_t &q, const TangentVector_t &v, const JacobianMatrix_t &Jin, int self)
static JacobianMatrix_t	dIntegrate_dv3 (const LieGroupType &lg, const ConfigVector_t &q, const TangentVector_t &v, int self, const JacobianMatrix_t &Jin)
static JacobianMatrix_t	dIntegrateTransport_proxy (const LieGroupType &lg, const ConfigVector_t &q, const TangentVector_t &v, const JacobianMatrix_t &J, const ArgumentPosition arg)
static ConfigVector_t	integrate (const LieGroupType &lg, const ConfigVector_t &q, const TangentVector_t &v)
static ConfigVector_t	interpolate (const LieGroupType &lg, const ConfigVector_t &q0, const ConfigVector_t &q1, const context::Scalar &u)
static JacobianMatrix_t	tangentMap (const LieGroupType &lg, const ConfigVector_t &q)
static JacobianMatrix_t	tangentMapProduct (const LieGroupType &lg, const ConfigVector_t &q, const JacobianMatrix_t &Min)
static JacobianMatrix_t	tangentMapTransposeProduct (const LieGroupType &lg, const ConfigVector_t &q, const JacobianMatrix_t &Min)

Detailed Description

template<class LieGroupType>
struct pinocchio::python::LieGroupWrapperTpl< LieGroupType >

Definition at line 18 of file liegroups.hpp.

Member Typedef Documentation

◆ ConfigVector_t

template<class LieGroupType>

typedef Eigen::Matrix<context::Scalar, Eigen::Dynamic, 1> ConfigVector_t

Definition at line 20 of file liegroups.hpp.

◆ JacobianMatrix_t

template<class LieGroupType>

typedef Eigen::Matrix<context::Scalar, Eigen::Dynamic, Eigen::Dynamic> JacobianMatrix_t

Definition at line 22 of file liegroups.hpp.

◆ TangentVector_t

template<class LieGroupType>

typedef Eigen::Matrix<context::Scalar, Eigen::Dynamic, 1> TangentVector_t

Definition at line 21 of file liegroups.hpp.

Member Function Documentation

◆ dDifference1()

template<class LieGroupType>

JacobianMatrix_t dDifference1	(	const LieGroupType &	lg,
		const ConfigVector_t &	q0,
		const ConfigVector_t &	q1,
		const ArgumentPosition	arg )

inlinestatic

Definition at line 45 of file liegroups.hpp.

◆ dDifference2()

template<class LieGroupType>

JacobianMatrix_t dDifference2	(	const LieGroupType &	lg,
		const ConfigVector_t &	q0,
		const ConfigVector_t &	q1,
		const ArgumentPosition	arg,
		const JacobianMatrix_t &	Jin,
		int	self )

inlinestatic

Definition at line 56 of file liegroups.hpp.

◆ dDifference3()

template<class LieGroupType>

JacobianMatrix_t dDifference3	(	const LieGroupType &	lg,
		const ConfigVector_t &	q0,
		const ConfigVector_t &	q1,
		const ArgumentPosition	arg,
		int	self,
		const JacobianMatrix_t &	Jin )

inlinestatic

Definition at line 79 of file liegroups.hpp.

◆ difference()

template<class LieGroupType>

TangentVector_t difference	(	const LieGroupType &	lg,
		const ConfigVector_t &	q0,
		const ConfigVector_t &	q1 )

inlinestatic

Definition at line 40 of file liegroups.hpp.

◆ dIntegrate()

template<class LieGroupType>

JacobianMatrix_t dIntegrate	(	const LieGroupType &	lg,
		const ConfigVector_t &	q,
		const TangentVector_t &	v,
		const ArgumentPosition	arg )

inlinestatic

Definition at line 102 of file liegroups.hpp.

◆ dIntegrate_dq1()

template<class LieGroupType>

JacobianMatrix_t dIntegrate_dq1	(	const LieGroupType &	lg,
		const ConfigVector_t &	q,
		const TangentVector_t &	v )

inlinestatic

Definition at line 114 of file liegroups.hpp.

◆ dIntegrate_dq2()

template<class LieGroupType>

JacobianMatrix_t dIntegrate_dq2	(	const LieGroupType &	lg,
		const ConfigVector_t &	q,
		const TangentVector_t &	v,
		const JacobianMatrix_t &	Jin,
		int	self )

inlinestatic

Definition at line 121 of file liegroups.hpp.

◆ dIntegrate_dq3()

template<class LieGroupType>

JacobianMatrix_t dIntegrate_dq3	(	const LieGroupType &	lg,
		const ConfigVector_t &	q,
		const TangentVector_t &	v,
		int	self,
		const JacobianMatrix_t &	Jin )

inlinestatic

Definition at line 133 of file liegroups.hpp.

◆ dIntegrate_dv1()

template<class LieGroupType>

JacobianMatrix_t dIntegrate_dv1	(	const LieGroupType &	lg,
		const ConfigVector_t &	q,
		const TangentVector_t &	v )

inlinestatic

Definition at line 146 of file liegroups.hpp.

◆ dIntegrate_dv2()

template<class LieGroupType>

JacobianMatrix_t dIntegrate_dv2	(	const LieGroupType &	lg,
		const ConfigVector_t &	q,
		const TangentVector_t &	v,
		const JacobianMatrix_t &	Jin,
		int	self )

inlinestatic

Definition at line 153 of file liegroups.hpp.

◆ dIntegrate_dv3()

template<class LieGroupType>

JacobianMatrix_t dIntegrate_dv3	(	const LieGroupType &	lg,
		const ConfigVector_t &	q,
		const TangentVector_t &	v,
		int	self,
		const JacobianMatrix_t &	Jin )

inlinestatic

Definition at line 165 of file liegroups.hpp.

◆ dIntegrateTransport_proxy()

template<class LieGroupType>

JacobianMatrix_t dIntegrateTransport_proxy	(	const LieGroupType &	lg,
		const ConfigVector_t &	q,
		const TangentVector_t &	v,
		const JacobianMatrix_t &	J,
		const ArgumentPosition	arg )

inlinestatic

Definition at line 177 of file liegroups.hpp.

◆ integrate()

template<class LieGroupType>

ConfigVector_t integrate	(	const LieGroupType &	lg,
		const ConfigVector_t &	q,
		const TangentVector_t &	v )

inlinestatic

Definition at line 25 of file liegroups.hpp.

◆ interpolate()

template<class LieGroupType>

ConfigVector_t interpolate	(	const LieGroupType &	lg,
		const ConfigVector_t &	q0,
		const ConfigVector_t &	q1,
		const context::Scalar &	u )

inlinestatic

Definition at line 30 of file liegroups.hpp.

◆ tangentMap()

template<class LieGroupType>

JacobianMatrix_t tangentMap	(	const LieGroupType &	lg,
		const ConfigVector_t &	q )

inlinestatic

Definition at line 188 of file liegroups.hpp.

◆ tangentMapProduct()

template<class LieGroupType>

JacobianMatrix_t tangentMapProduct	(	const LieGroupType &	lg,
		const ConfigVector_t &	q,
		const JacobianMatrix_t &	Min )

inlinestatic

Definition at line 195 of file liegroups.hpp.

◆ tangentMapTransposeProduct()

template<class LieGroupType>

JacobianMatrix_t tangentMapTransposeProduct	(	const LieGroupType &	lg,
		const ConfigVector_t &	q,
		const JacobianMatrix_t &	Min )

inlinestatic

Definition at line 203 of file liegroups.hpp.

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

include/pinocchio/bindings/python/multibody/liegroups.hpp

Public Types

Static Public Member Functions

Detailed Description

Member Typedef Documentation

◆ ConfigVector_t

◆ JacobianMatrix_t

◆ TangentVector_t

Member Function Documentation

◆ dDifference1()

◆ dDifference2()

◆ dDifference3()

◆ difference()

◆ dIntegrate()

◆ dIntegrate_dq1()

◆ dIntegrate_dq2()

◆ dIntegrate_dq3()

◆ dIntegrate_dv1()

◆ dIntegrate_dv2()

◆ dIntegrate_dv3()

◆ dIntegrateTransport_proxy()

◆ integrate()

◆ interpolate()

◆ tangentMap()

◆ tangentMapProduct()

◆ tangentMapTransposeProduct()