Public Types | Public Member Functions | Static Public Member Functions | List of all members
hpp::pinocchio::liegroup::VectorSpaceOperation< Size, rot > Struct Template Reference

#include <hpp/pinocchio/liegroup/vector-space.hh>

Inheritance diagram for hpp::pinocchio::liegroup::VectorSpaceOperation< Size, rot >:
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Collaboration diagram for hpp::pinocchio::liegroup::VectorSpaceOperation< Size, rot >:
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Public Types

enum  {
  BoundSize = Size,
  NR = (rot ? Size : 0),
  NT = (rot ? 0 : Size)
}
 
typedef ::pinocchio::VectorSpaceOperationTpl< Size, value_type > Base
 

Public Member Functions

 VectorSpaceOperation (int size=Size)
 Constructor. More...
 
template<class ConfigL_t , class ConfigR_t >
double squaredDistance (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1)
 
template<class ConfigL_t , class ConfigR_t >
double squaredDistance (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const typename ConfigL_t::Scalar &w)
 

Static Public Member Functions

template<class ConfigIn_t , class ConfigOut_t >
static void setBound (const Eigen::MatrixBase< ConfigIn_t > &bounds, const Eigen::MatrixBase< ConfigOut_t > &out)
 
template<class JacobianIn_t , class JacobianOut_t >
static void getRotationSubJacobian (const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout)
 
template<class ConfigIn_t >
static bool isNormalized (const Eigen::MatrixBase< ConfigIn_t > &, const value_type &)
 

Member Typedef Documentation

◆ Base

template<int Size, bool rot>
typedef ::pinocchio::VectorSpaceOperationTpl<Size, value_type> hpp::pinocchio::liegroup::VectorSpaceOperation< Size, rot >::Base

Member Enumeration Documentation

◆ anonymous enum

template<int Size, bool rot>
anonymous enum
Enumerator
BoundSize 
NR 
NT 

Constructor & Destructor Documentation

◆ VectorSpaceOperation()

template<int Size, bool rot>
hpp::pinocchio::liegroup::VectorSpaceOperation< Size, rot >::VectorSpaceOperation ( int  size = Size)
inline

Constructor.

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

Member Function Documentation

◆ getRotationSubJacobian()

template<int Size, bool rot>
template<class JacobianIn_t , class JacobianOut_t >
static void hpp::pinocchio::liegroup::VectorSpaceOperation< Size, rot >::getRotationSubJacobian ( const Eigen::MatrixBase< JacobianIn_t > &  Jin,
const Eigen::MatrixBase< JacobianOut_t > &  Jout 
)
inlinestatic

◆ isNormalized()

template<int Size, bool rot>
template<class ConfigIn_t >
static bool hpp::pinocchio::liegroup::VectorSpaceOperation< Size, rot >::isNormalized ( const Eigen::MatrixBase< ConfigIn_t > &  ,
const value_type &   
)
inlinestatic

◆ setBound()

template<int Size, bool rot>
template<class ConfigIn_t , class ConfigOut_t >
static void hpp::pinocchio::liegroup::VectorSpaceOperation< Size, rot >::setBound ( const Eigen::MatrixBase< ConfigIn_t > &  bounds,
const Eigen::MatrixBase< ConfigOut_t > &  out 
)
inlinestatic

◆ squaredDistance() [1/2]

template<int Size, bool rot>
template<class ConfigL_t , class ConfigR_t >
double hpp::pinocchio::liegroup::VectorSpaceOperation< Size, rot >::squaredDistance ( const Eigen::MatrixBase< ConfigL_t > &  q0,
const Eigen::MatrixBase< ConfigR_t > &  q1 
)
inline

◆ squaredDistance() [2/2]

template<int Size, bool rot>
template<class ConfigL_t , class ConfigR_t >
double hpp::pinocchio::liegroup::VectorSpaceOperation< Size, rot >::squaredDistance ( const Eigen::MatrixBase< ConfigL_t > &  q0,
const Eigen::MatrixBase< ConfigR_t > &  q1,
const typename ConfigL_t::Scalar &  w 
)
inline