62 PINOCCHIO_CONSTRAINT_TYPEDEF_TPL(Derived)
69 return *
static_cast<Derived *
>(
this);
71 const Derived & derived()
const
73 return *
static_cast<const Derived *
>(
this);
76 template<
typename VectorLike>
77 JointMotion operator*(
const Eigen::MatrixBase<VectorLike> &
vj)
const
79 return derived().__mult__(
vj);
82 MatrixReturnType matrix()
84 return derived().matrix_impl();
86 ConstMatrixReturnType matrix()
const
88 return derived().matrix_impl();
93 return derived().nv_impl();
105 template<
class OtherDerived>
108 const Scalar &
prec = Eigen::NumTraits<Scalar>::dummy_precision())
const
110 return matrix().isApprox(
other.matrix(),
prec);
113 void disp(std::ostream &
os)
const
115 derived().disp_impl(
os);
125 return derived().se3Action(m);
128 typename SE3GroupAction<Derived>::ReturnType
131 return derived().se3ActionInverse(m);
134 template<
typename MotionDerived>
135 typename MotionAlgebraAction<Derived, MotionDerived>::ReturnType
138 return derived().motionAction(v);
143 return derived().isEqual(
other.derived());