Public Types | Public Member Functions | List of all members
hpp::pinocchio::LiegroupElementBase< vector_type > Class Template Reference
Lie group

Writable element of a Lie group. More...

#include <hpp/pinocchio/liegroup-element.hh>

Inheritance diagram for hpp::pinocchio::LiegroupElementBase< vector_type >:
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Collaboration diagram for hpp::pinocchio::LiegroupElementBase< vector_type >:
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Public Types

typedef LiegroupElementConstBase< vector_type > Base
 

Public Member Functions

 LiegroupElementBase (const vector_type &value, const LiegroupSpacePtr_t &space)
 Constructor. More...
 
 LiegroupElementBase (const LiegroupSpacePtr_t &space)
 Constructor. More...
 
 LiegroupElementBase (const vector_type &value)
 Constructor. More...
 
template<typename vector_type2 >
 LiegroupElementBase (const LiegroupElementConstBase< vector_type2 > &other)
 Copy constructor. More...
 
template<typename vector_type2 >
 LiegroupElementBase (const LiegroupElementBase< vector_type2 > &other)
 Copy constructor. More...
 
template<typename vector_type2 >
 LiegroupElementBase (LiegroupElementBase< vector_type2 > &other)
 Casting operator from LiegroupElement to LiegroupElementRef More...
 
 LiegroupElementBase ()
 Constructor of trivial element. More...
 
const vector_type & vector () const
 Const vector representation. More...
 
vector_type & vector ()
 Modifiable vector representation. More...
 
void setNeutral ()
 Set element to neutral element. More...
 
LiegroupElementBase & operator+= (vectorIn_t v)
 Inplace integration of a velocity vector. More...
 
template<typename vector_type2 >
LiegroupElementBase & operator= (const LiegroupElementConstBase< vector_type2 > &other)
 Assignment from another LiegroupElement. More...
 
template<typename Vector >
LiegroupElementBase & operator= (const Eigen::MatrixBase< Vector > &v)
 Assignment from a vector. More...
 
- Public Member Functions inherited from hpp::pinocchio::LiegroupElementConstBase< vector_type >
template<typename Derived >
 LiegroupElementConstBase (const Eigen::EigenBase< Derived > &value, const LiegroupSpacePtr_t &liegroupSpace)
 Constructor. More...
 
template<typename Derived >
 LiegroupElementConstBase (const Eigen::EigenBase< Derived > &value)
 Constructor. More...
 
template<typename vector_type2 >
 LiegroupElementConstBase (const LiegroupElementConstBase< vector_type2 > &other)
 Constructor to allow casting LiegroupElement and LiegroupElementRef into a LiegroupElementConstRef. More...
 
const LiegroupSpacePtr_t & space () const
 get reference to vector of Lie groups More...
 
const vector_type & vector () const
 Const vector representation. More...
 
size_type size () const
 Size of the vector representation. More...
 
void check () const
 Check that size of vector fits size of space. More...
 

Additional Inherited Members

- Protected Member Functions inherited from hpp::pinocchio::LiegroupElementConstBase< vector_type >
template<typename Derived >
 LiegroupElementConstBase (const Eigen::EigenBase< Derived > &value, const LiegroupSpacePtr_t &space, void *)
 
- Protected Attributes inherited from hpp::pinocchio::LiegroupElementConstBase< vector_type >
vector_type value_
 
LiegroupSpacePtr_t space_
 

Detailed Description

template<typename vector_type>
class hpp::pinocchio::LiegroupElementBase< vector_type >

Writable element of a Lie group.

See also
LiegroupSpace, LiegroupElement, LiegroupElementRef

Member Typedef Documentation

◆ Base

template<typename vector_type>
typedef LiegroupElementConstBase<vector_type> hpp::pinocchio::LiegroupElementBase< vector_type >::Base

Constructor & Destructor Documentation

◆ LiegroupElementBase() [1/7]

template<typename vector_type>
hpp::pinocchio::LiegroupElementBase< vector_type >::LiegroupElementBase ( const vector_type &  value,
const LiegroupSpacePtr_t &  space 
)
inline

Constructor.

Parameters
valuevector representation,
spacespace the element belongs to.

◆ LiegroupElementBase() [2/7]

template<typename vector_type>
hpp::pinocchio::LiegroupElementBase< vector_type >::LiegroupElementBase ( const LiegroupSpacePtr_t &  space)
inline

Constructor.

Parameters
spacespace the element belongs to.

◆ LiegroupElementBase() [3/7]

template<typename vector_type>
hpp::pinocchio::LiegroupElementBase< vector_type >::LiegroupElementBase ( const vector_type &  value)
inlineexplicit

Constructor.

Parameters
valuevector representation,

By default the space containing the value is a vector space.

◆ LiegroupElementBase() [4/7]

template<typename vector_type>
template<typename vector_type2 >
hpp::pinocchio::LiegroupElementBase< vector_type >::LiegroupElementBase ( const LiegroupElementConstBase< vector_type2 > &  other)
inline

Copy constructor.

Handles the following case:

  • LiegroupElement <- LiegroupElementConstRef

◆ LiegroupElementBase() [5/7]

template<typename vector_type>
template<typename vector_type2 >
hpp::pinocchio::LiegroupElementBase< vector_type >::LiegroupElementBase ( const LiegroupElementBase< vector_type2 > &  other)
inline

Copy constructor.

Handles the following cases:

  • LiegroupElement <- LiegroupElement
  • LiegroupElementRef <- LiegroupElementRef
  • LiegroupElement <- LiegroupElementRef

◆ LiegroupElementBase() [6/7]

template<typename vector_type>
template<typename vector_type2 >
hpp::pinocchio::LiegroupElementBase< vector_type >::LiegroupElementBase ( LiegroupElementBase< vector_type2 > &  other)
inline

Casting operator from LiegroupElement to LiegroupElementRef

◆ LiegroupElementBase() [7/7]

template<typename vector_type>
hpp::pinocchio::LiegroupElementBase< vector_type >::LiegroupElementBase ( )
inline

Constructor of trivial element.

Member Function Documentation

◆ operator+=()

template<typename vector_type>
LiegroupElementBase& hpp::pinocchio::LiegroupElementBase< vector_type >::operator+= ( vectorIn_t  v)

Inplace integration of a velocity vector.

◆ operator=() [1/2]

template<typename vector_type>
template<typename vector_type2 >
LiegroupElementBase& hpp::pinocchio::LiegroupElementBase< vector_type >::operator= ( const LiegroupElementConstBase< vector_type2 > &  other)
inline

Assignment from another LiegroupElement.

References hpp::pinocchio::LiegroupElementConstBase< vector_type >::space_, and hpp::pinocchio::LiegroupElementConstBase< vector_type >::value_.

◆ operator=() [2/2]

template<typename vector_type>
template<typename Vector >
LiegroupElementBase& hpp::pinocchio::LiegroupElementBase< vector_type >::operator= ( const Eigen::MatrixBase< Vector > &  v)
inline

Assignment from a vector.

References hpp::pinocchio::log(), hpp::pinocchio::operator+(), hpp::pinocchio::operator-(), hpp::pinocchio::LiegroupElementConstBase< vector_type >::space_, and hpp::pinocchio::LiegroupElementConstBase< vector_type >::value_.

◆ setNeutral()

template<typename vector_type>
void hpp::pinocchio::LiegroupElementBase< vector_type >::setNeutral ( )
inline

Set element to neutral element.

References hpp::pinocchio::LiegroupElementConstBase< vector_type >::space_, and hpp::pinocchio::LiegroupElementConstBase< vector_type >::value_.

◆ vector() [1/2]

template<typename vector_type>
const vector_type& hpp::pinocchio::LiegroupElementBase< vector_type >::vector ( ) const
inline

Const vector representation.

◆ vector() [2/2]

template<typename vector_type>
vector_type& hpp::pinocchio::LiegroupElementBase< vector_type >::vector ( )
inline

Modifiable vector representation.

References hpp::pinocchio::LiegroupElementConstBase< vector_type >::value_.