57 const Eigen::MatrixBase<ConfigR_t>& q1,
58 const typename ConfigL_t::Scalar& w) {
59 return LieGroup1().squaredDistance(q0.template head<LieGroup1::NQ>(),
60 q1.template head<LieGroup1::NQ>(), w) +
61 LieGroup2().squaredDistance(q0.template tail<LieGroup2::NQ>(),
62 q1.template tail<LieGroup2::NQ>(), w);
66 static void setBound(
const Eigen::MatrixBase<ConfigIn_t>& bound,
67 const Eigen::MatrixBase<ConfigOut_t>& out) {
68 EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ConfigOut_t, Base::ConfigVector_t)
70 const_cast<Eigen::MatrixBase<ConfigOut_t>&
>(out).derived();
72 if (LieGroup1::BoundSize > 0)
73 LieGroup1::setBound(bound.template head<LieGroup1::BoundSize>(),
74 oout.template head<LieGroup1::NQ>());
75 if (LieGroup2::BoundSize > 0)
76 LieGroup2::setBound(bound.template tail<LieGroup2::BoundSize>(),
77 oout.template tail<LieGroup2::NQ>());
78 }
else if (bound.size() == Base::NQ) {
79 LieGroup1::setBound(bound.template head<LieGroup1::NQ>(),
80 oout.template head<LieGroup1::NQ>());
81 LieGroup2::setBound(bound.template tail<LieGroup2::NQ>(),
82 oout.template tail<LieGroup2::NQ>());
84 HPP_THROW(std::invalid_argument,
"Expected vector of size "
86 << (
int)Base::NQ <<
", got size "
93 const Eigen::MatrixBase<JacobianIn_t>& Jin,
94 const Eigen::MatrixBase<JacobianOut_t>& Jout) {
96 const_cast<Eigen::MatrixBase<JacobianOut_t>&
>(Jout).derived();
97 if (LieGroup1::NR > 0)
98 LieGroup1::getRotationSubJacobian(Jin.template leftCols<LieGroup1::NV>(),
99 J.template leftCols<LieGroup1::NR>());
100 if (LieGroup2::NR > 0)
101 LieGroup2::getRotationSubJacobian(Jin.template rightCols<LieGroup2::NV>(),
102 J.template rightCols<LieGroup2::NR>());
108 EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ConfigIn_t, Base::ConfigVector_t);
109 return LieGroup1::isNormalized(q.template head<LieGroup1::NQ>(), eps) &&
110 LieGroup2::isNormalized(q.template tail<LieGroup2::NQ>(), eps);