Configurations of robots, as well as some values like the position of a robot joint with respect to a fixed frame belong to differential manifolds that have the structure of Lie groups. More...

Classes
class	hpp::pinocchio::LiegroupElementConstBase< vector_type >
	Const reference to a LiegroupElement. More...

class	hpp::pinocchio::LiegroupElementBase< vector_type >
	Writable element of a Lie group. More...

class	hpp::pinocchio::LiegroupSpace
	Cartesian product of elementary Lie groups. More...

Typedefs
typedef ABoostVariant	hpp::pinocchio::LiegroupType
	Elementary Lie groups A boost variant with the following classes: More...

Enumerations
enum	hpp::pinocchio::DerivativeProduct { hpp::pinocchio::DerivativeTimesInput, hpp::pinocchio::InputTimesDerivative }

Functions
template<typename vector_type >
LiegroupElement	hpp::pinocchio::operator+ (const LiegroupElementConstBase< vector_type > &e, vectorIn_t v)
	Integration of a velocity vector from a configuration. More...

template<typename vector_type1 , typename vector_type2 >
vector_t	hpp::pinocchio::operator- (const LiegroupElementConstBase< vector_type1 > &e1, const LiegroupElementConstBase< vector_type2 > &e2)
	Difference between two configurations. More...

std::ostream &	hpp::pinocchio::operator<< (std::ostream &os, const LiegroupSpace &space)
	Writing in a stream. More...

hpp::pinocchio::LiegroupSpacePtr_t	boost::operator* (const hpp::pinocchio::LiegroupSpaceConstPtr_t &sp1, const hpp::pinocchio::LiegroupSpaceConstPtr_t &sp2)
	Cartesian product between Lie groups. More...

hpp::pinocchio::LiegroupSpacePtr_t	boost::operator^ (const hpp::pinocchio::LiegroupSpaceConstPtr_t &sp, hpp::pinocchio::size_type n)
	Cartesian power by an integer. More...

Detailed Description

Configurations of robots, as well as some values like the position of a robot joint with respect to a fixed frame belong to differential manifolds that have the structure of Lie groups.

These manifolds are the cartesian products of the following elementary Lie groups

\(\mathbf{R}^n\),
\(SO(2)\) the group of rotations in the plane represented by a vector of dimension 2 \((\cos \theta, \sin \theta)\) for a rotation of angle \(\theta\),
\(SO(3)\)the group of rotations in the 3d space represented by a quaternion \(Xi + Yj + Zk + W\) (ie a vector of dimension 4),
\(SE(2)\) the group of rigid-body motions in the plane, represented by a vector of dimention 4 \((x,y,\cos\theta,\sin\theta)\),
\(SE(3)\), the group of rigid-body motion in 3d space, represented by a vector of dimension 7 \((x,y,z,X,Y,Z,W)\).

Typedef Documentation

◆ LiegroupType

typedef ABoostVariant hpp::pinocchio::LiegroupType

Elementary Lie groups A boost variant with the following classes:

\(\mathbf{R}^n\), where \(n\) is either 1, 2, 3 or dynamic,
\(\mathbf{R}^n \times SO(n) \), where \(n\) is either 2 or 3,
\(SO(n) \), where \(n\) is either 2 or 3,
\(SE(n) \), where \(n\) is either 2 or 3.
See also
hpp::pinocchio::liegroup::VectorSpaceOperation, hpp::pinocchio::liegroup::CartesianProductOperation, hpp::pinocchio::liegroup::SpecialOrthogonalOperation, hpp::pinocchio::liegroup::SpecialEuclideanOperation,

Enumeration Type Documentation

◆ DerivativeProduct

enum hpp::pinocchio::DerivativeProduct

Enumerator
DerivativeTimesInput
InputTimesDerivative

Function Documentation

◆ operator*()

hpp::pinocchio::LiegroupSpacePtr_t boost::operator*	(	const hpp::pinocchio::LiegroupSpaceConstPtr_t &	sp1,
		const hpp::pinocchio::LiegroupSpaceConstPtr_t &	sp2
	)

Cartesian product between Lie groups.

◆ operator+()

template<typename vector_type >

LiegroupElement hpp::pinocchio::operator+	(	const LiegroupElementConstBase< vector_type > &	e,
		vectorIn_t	v
	)

Integration of a velocity vector from a configuration.

Parameters

e	element of the Lie group,
v	element of the tangent space of the Lie group.

Returns: the element of the Lie group resulting from the integration

By extension of the vector space case, we represent the integration of a constant velocity during unit time by an addition

Referenced by hpp::pinocchio::LiegroupElementBase< vector_type >::operator=().

◆ operator-()

template<typename vector_type1 , typename vector_type2 >

vector_t hpp::pinocchio::operator-	(	const LiegroupElementConstBase< vector_type1 > &	e1,
		const LiegroupElementConstBase< vector_type2 > &	e2
	)

Difference between two configurations.

Parameters

e1,e2 elements of the Lie group,

Returns: the velocity that integrated from e2 yiels e1

By extension of the vector space case, we represent the integration of a constant velocity during unit time by an addition

Referenced by hpp::pinocchio::LiegroupElementBase< vector_type >::operator=().

◆ operator<<()

std::ostream& hpp::pinocchio::operator<<	(	std::ostream &	os,
		const LiegroupSpace &	space
	)

inline

Writing in a stream.

References hpp::pinocchio::LiegroupSpace::name().

◆ operator^()

hpp::pinocchio::LiegroupSpacePtr_t boost::operator^	(	const hpp::pinocchio::LiegroupSpaceConstPtr_t &	sp,
		hpp::pinocchio::size_type	n
	)

Cartesian power by an integer.

Classes

Typedefs

Enumerations

Functions