Classes
hpp::pinocchio::RnxSOnLieGroupMap Struct Reference

This class maps at compile time a joint type to a lie group type. More...

#include <hpp/pinocchio/liegroup.hh>

Classes

struct  operation
 

Detailed Description

This class maps at compile time a joint type to a lie group type.

JointModelPlanar (JointModelFreeFlyer resp.) maps to \( R^2 \times SO(2) \) (resp. \( R^3 \times SO(3) \))

Unknown joint types map to an empty operation (compile time failure).