pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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liegroup-base.hpp
1//
2// Copyright (c) 2016-2020 CNRS INRIA
3//
4
5#ifndef __pinocchio_multibody_liegroup_liegroup_operation_base_hpp__
6#define __pinocchio_multibody_liegroup_liegroup_operation_base_hpp__
7
8#include "pinocchio/multibody/liegroup/fwd.hpp"
9
10#include <limits>
11
12namespace pinocchio
13{
14 constexpr int SELF = 0;
15
16#define PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived, TYPENAME) \
17 typedef LieGroupBase<Derived> Base; \
18 typedef TYPENAME Base::Index Index; \
19 typedef TYPENAME traits<Derived>::Scalar Scalar; \
20 enum \
21 { \
22 Options = traits<Derived>::Options, \
23 NQ = Base::NQ, \
24 NV = Base::NV \
25 }; \
26 typedef TYPENAME Base::ConfigVector_t ConfigVector_t; \
27 typedef TYPENAME Base::TangentVector_t TangentVector_t; \
28 typedef TYPENAME Base::JacobianMatrix_t JacobianMatrix_t
29
30#define PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE(Derived) \
31 PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived, PINOCCHIO_MACRO_EMPTY_ARG)
32
33#define PINOCCHIO_LIE_GROUP_TPL_PUBLIC_INTERFACE(Derived) \
34 PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived, typename)
35
36 template<typename Derived>
37 struct LieGroupBase
38 {
39 typedef Derived LieGroupDerived;
40 typedef int Index;
41 typedef typename traits<LieGroupDerived>::Scalar Scalar;
42 enum
43 {
44 Options = traits<LieGroupDerived>::Options,
45 NQ = traits<LieGroupDerived>::NQ,
46 NV = traits<LieGroupDerived>::NV
47 };
48
49 typedef Eigen::Matrix<Scalar, NQ, 1, Options> ConfigVector_t;
50 typedef Eigen::Matrix<Scalar, NV, 1, Options> TangentVector_t;
51 typedef Eigen::Matrix<Scalar, NV, NV, Options> JacobianMatrix_t;
52
55
65 template<class ConfigIn_t, class Tangent_t, class ConfigOut_t>
66 void integrate(
67 const Eigen::MatrixBase<ConfigIn_t> & q,
68 const Eigen::MatrixBase<Tangent_t> & v,
69 const Eigen::MatrixBase<ConfigOut_t> & qout) const;
70
85 template<class Config_t, class Jacobian_t>
86 void integrateCoeffWiseJacobian(
87 const Eigen::MatrixBase<Config_t> & q, const Eigen::MatrixBase<Jacobian_t> & J) const;
88
104 template<ArgumentPosition arg, class Config_t, class Tangent_t, class JacobianOut_t>
105 void dIntegrate(
106 const Eigen::MatrixBase<Config_t> & q,
107 const Eigen::MatrixBase<Tangent_t> & v,
108 const Eigen::MatrixBase<JacobianOut_t> & J,
109 AssignmentOperatorType op = SETTO) const
110 {
111 PINOCCHIO_STATIC_ASSERT(arg == ARG0 || arg == ARG1, arg_SHOULD_BE_ARG0_OR_ARG1);
112 return dIntegrate(
113 q.derived(), v.derived(), PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t, J), arg, op);
114 }
115
131 template<class Config_t, class Tangent_t, class JacobianOut_t>
132 void dIntegrate(
133 const Eigen::MatrixBase<Config_t> & q,
134 const Eigen::MatrixBase<Tangent_t> & v,
135 const Eigen::MatrixBase<JacobianOut_t> & J,
136 const ArgumentPosition arg,
137 const AssignmentOperatorType op = SETTO) const;
138
152 template<class Config_t, class Tangent_t, class JacobianOut_t>
153 void dIntegrate_dq(
154 const Eigen::MatrixBase<Config_t> & q,
155 const Eigen::MatrixBase<Tangent_t> & v,
156 const Eigen::MatrixBase<JacobianOut_t> & J,
157 const AssignmentOperatorType op = SETTO) const;
158
159 template<class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t>
160 void dIntegrate_dq(
161 const Eigen::MatrixBase<Config_t> & q,
162 const Eigen::MatrixBase<Tangent_t> & v,
163 const Eigen::MatrixBase<JacobianIn_t> & Jin,
164 int self,
165 const Eigen::MatrixBase<JacobianOut_t> & Jout,
166 const AssignmentOperatorType op = SETTO) const;
167
168 template<class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t>
169 void dIntegrate_dq(
170 const Eigen::MatrixBase<Config_t> & q,
171 const Eigen::MatrixBase<Tangent_t> & v,
172 int self,
173 const Eigen::MatrixBase<JacobianIn_t> & Jin,
174 const Eigen::MatrixBase<JacobianOut_t> & Jout,
175 const AssignmentOperatorType op = SETTO) const;
176
190 template<class Config_t, class Tangent_t, class JacobianOut_t>
191 void dIntegrate_dv(
192 const Eigen::MatrixBase<Config_t> & q,
193 const Eigen::MatrixBase<Tangent_t> & v,
194 const Eigen::MatrixBase<JacobianOut_t> & J,
195 const AssignmentOperatorType op = SETTO) const;
196
197 template<class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t>
198 void dIntegrate_dv(
199 const Eigen::MatrixBase<Config_t> & q,
200 const Eigen::MatrixBase<Tangent_t> & v,
201 int self,
202 const Eigen::MatrixBase<JacobianIn_t> & Jin,
203 const Eigen::MatrixBase<JacobianOut_t> & Jout,
204 const AssignmentOperatorType op = SETTO) const;
205
206 template<class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t>
207 void dIntegrate_dv(
208 const Eigen::MatrixBase<Config_t> & q,
209 const Eigen::MatrixBase<Tangent_t> & v,
210 const Eigen::MatrixBase<JacobianIn_t> & Jin,
211 int self,
212 const Eigen::MatrixBase<JacobianOut_t> & Jout,
213 const AssignmentOperatorType op = SETTO) const;
214
240 template<class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t>
241 void dIntegrateTransport(
242 const Eigen::MatrixBase<Config_t> & q,
243 const Eigen::MatrixBase<Tangent_t> & v,
244 const Eigen::MatrixBase<JacobianIn_t> & Jin,
245 const Eigen::MatrixBase<JacobianOut_t> & Jout,
246 const ArgumentPosition arg) const;
247
270 template<class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t>
271 void dIntegrateTransport_dq(
272 const Eigen::MatrixBase<Config_t> & q,
273 const Eigen::MatrixBase<Tangent_t> & v,
274 const Eigen::MatrixBase<JacobianIn_t> & Jin,
275 const Eigen::MatrixBase<JacobianOut_t> & Jout) const;
298 template<class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t>
299 void dIntegrateTransport_dv(
300 const Eigen::MatrixBase<Config_t> & q,
301 const Eigen::MatrixBase<Tangent_t> & v,
302 const Eigen::MatrixBase<JacobianIn_t> & Jin,
303 const Eigen::MatrixBase<JacobianOut_t> & Jout) const;
304
327 template<class Config_t, class Tangent_t, class Jacobian_t>
328 void dIntegrateTransport(
329 const Eigen::MatrixBase<Config_t> & q,
330 const Eigen::MatrixBase<Tangent_t> & v,
331 const Eigen::MatrixBase<Jacobian_t> & J,
332 const ArgumentPosition arg) const;
333
355 template<class Config_t, class Tangent_t, class Jacobian_t>
356 void dIntegrateTransport_dq(
357 const Eigen::MatrixBase<Config_t> & q,
358 const Eigen::MatrixBase<Tangent_t> & v,
359 const Eigen::MatrixBase<Jacobian_t> & J) const;
381 template<class Config_t, class Tangent_t, class Jacobian_t>
382 void dIntegrateTransport_dv(
383 const Eigen::MatrixBase<Config_t> & q,
384 const Eigen::MatrixBase<Tangent_t> & v,
385 const Eigen::MatrixBase<Jacobian_t> & J) const;
386
396 template<class ConfigL_t, class ConfigR_t, class ConfigOut_t>
397 void interpolate(
398 const Eigen::MatrixBase<ConfigL_t> & q0,
399 const Eigen::MatrixBase<ConfigR_t> & q1,
400 const Scalar & u,
401 const Eigen::MatrixBase<ConfigOut_t> & qout) const;
402
413 template<class Config_t>
414 void normalize(const Eigen::MatrixBase<Config_t> & qout) const;
415
424 template<class Config_t>
425 bool isNormalized(
426 const Eigen::MatrixBase<Config_t> & qin,
427 const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision()) const;
428
437 template<class Config_t>
438 void random(const Eigen::MatrixBase<Config_t> & qout) const;
439
449 template<class ConfigL_t, class ConfigR_t, class ConfigOut_t>
450 void randomConfiguration(
451 const Eigen::MatrixBase<ConfigL_t> & lower_pos_limit,
452 const Eigen::MatrixBase<ConfigR_t> & upper_pos_limit,
453 const Eigen::MatrixBase<ConfigOut_t> & qout) const;
454
470 template<class ConfigL_t, class ConfigR_t, class Tangent_t>
471 void difference(
472 const Eigen::MatrixBase<ConfigL_t> & q0,
473 const Eigen::MatrixBase<ConfigR_t> & q1,
474 const Eigen::MatrixBase<Tangent_t> & v) const;
475
497 template<ArgumentPosition arg, class ConfigL_t, class ConfigR_t, class JacobianOut_t>
498 void dDifference(
499 const Eigen::MatrixBase<ConfigL_t> & q0,
500 const Eigen::MatrixBase<ConfigR_t> & q1,
501 const Eigen::MatrixBase<JacobianOut_t> & J) const;
502
514 template<class ConfigL_t, class ConfigR_t, class JacobianOut_t>
515 void dDifference(
516 const Eigen::MatrixBase<ConfigL_t> & q0,
517 const Eigen::MatrixBase<ConfigR_t> & q1,
518 const Eigen::MatrixBase<JacobianOut_t> & J,
519 const ArgumentPosition arg) const;
520
521 template<
522 ArgumentPosition arg,
523 class ConfigL_t,
524 class ConfigR_t,
525 class JacobianIn_t,
526 class JacobianOut_t>
527 void dDifference(
528 const Eigen::MatrixBase<ConfigL_t> & q0,
529 const Eigen::MatrixBase<ConfigR_t> & q1,
530 const Eigen::MatrixBase<JacobianIn_t> & Jin,
531 int self,
532 const Eigen::MatrixBase<JacobianOut_t> & Jout,
533 const AssignmentOperatorType op = SETTO) const;
534
535 template<
536 ArgumentPosition arg,
537 class ConfigL_t,
538 class ConfigR_t,
539 class JacobianIn_t,
540 class JacobianOut_t>
541 void dDifference(
542 const Eigen::MatrixBase<ConfigL_t> & q0,
543 const Eigen::MatrixBase<ConfigR_t> & q1,
544 int self,
545 const Eigen::MatrixBase<JacobianIn_t> & Jin,
546 const Eigen::MatrixBase<JacobianOut_t> & Jout,
547 const AssignmentOperatorType op = SETTO) const;
548
557 template<class ConfigL_t, class ConfigR_t>
558 Scalar squaredDistance(
559 const Eigen::MatrixBase<ConfigL_t> & q0, const Eigen::MatrixBase<ConfigR_t> & q1) const;
560
569 template<class ConfigL_t, class ConfigR_t>
570 Scalar distance(
571 const Eigen::MatrixBase<ConfigL_t> & q0, const Eigen::MatrixBase<ConfigR_t> & q1) const;
572
582 template<class ConfigL_t, class ConfigR_t>
583 bool isSameConfiguration(
584 const Eigen::MatrixBase<ConfigL_t> & q0,
585 const Eigen::MatrixBase<ConfigR_t> & q1,
586 const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision()) const;
587
588 bool operator==(const LieGroupBase & other) const
589 {
590 return derived().isEqual_impl(other.derived());
591 }
592
593 bool operator!=(const LieGroupBase & other) const
594 {
595 return derived().isDifferent_impl(other.derived());
596 }
598
601
602 template<class Config_t, class Tangent_t>
603 ConfigVector_t
604 integrate(const Eigen::MatrixBase<Config_t> & q, const Eigen::MatrixBase<Tangent_t> & v) const;
605
606 template<class ConfigL_t, class ConfigR_t>
607 ConfigVector_t interpolate(
608 const Eigen::MatrixBase<ConfigL_t> & q0,
609 const Eigen::MatrixBase<ConfigR_t> & q1,
610 const Scalar & u) const;
611
612 ConfigVector_t random() const;
613
614 template<class ConfigL_t, class ConfigR_t>
615 ConfigVector_t randomConfiguration(
616 const Eigen::MatrixBase<ConfigL_t> & lower_pos_limit,
617 const Eigen::MatrixBase<ConfigR_t> & upper_pos_limit) const;
618
619 template<class ConfigL_t, class ConfigR_t>
620 TangentVector_t difference(
621 const Eigen::MatrixBase<ConfigL_t> & q0, const Eigen::MatrixBase<ConfigR_t> & q1) const;
623
626
627 template<class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t>
628 void dIntegrate_product_impl(
629 const Config_t & q,
630 const Tangent_t & v,
631 const JacobianIn_t & Jin,
632 JacobianOut_t & Jout,
633 bool dIntegrateOnTheLeft,
634 const ArgumentPosition arg,
635 const AssignmentOperatorType op) const;
636
637 template<
638 ArgumentPosition arg,
639 class ConfigL_t,
640 class ConfigR_t,
641 class JacobianIn_t,
642 class JacobianOut_t>
643 void dDifference_product_impl(
644 const ConfigL_t & q0,
645 const ConfigR_t & q1,
646 const JacobianIn_t & Jin,
647 JacobianOut_t & Jout,
648 bool dDifferenceOnTheLeft,
649 const AssignmentOperatorType op) const;
650
651 template<class ConfigL_t, class ConfigR_t, class ConfigOut_t>
652 void interpolate_impl(
653 const Eigen::MatrixBase<ConfigL_t> & q0,
654 const Eigen::MatrixBase<ConfigR_t> & q1,
655 const Scalar & u,
656 const Eigen::MatrixBase<ConfigOut_t> & qout) const;
657
658 template<class Config_t>
659 void normalize_impl(const Eigen::MatrixBase<Config_t> & qout) const;
660
661 template<class Config_t>
662 bool isNormalized_impl(
663 const Eigen::MatrixBase<Config_t> & qin,
664 const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision()) const;
665
666 template<class ConfigL_t, class ConfigR_t>
667 Scalar squaredDistance_impl(
668 const Eigen::MatrixBase<ConfigL_t> & q0, const Eigen::MatrixBase<ConfigR_t> & q1) const;
669
670 template<class ConfigL_t, class ConfigR_t>
671 bool isSameConfiguration_impl(
672 const Eigen::MatrixBase<ConfigL_t> & q0,
673 const Eigen::MatrixBase<ConfigR_t> & q1,
674 const Scalar & prec) const;
675
678 bool isEqual_impl(const LieGroupBase & /*other*/) const
679 {
680 return true;
681 }
682 bool isDifferent_impl(const LieGroupBase & other) const
683 {
684 return !derived().isEqual_impl(other.derived());
685 }
686
691 Index nq() const;
693 Index nv() const;
695 ConfigVector_t neutral() const;
696
698 std::string name() const;
699
700 Derived & derived()
701 {
702 return static_cast<Derived &>(*this);
703 }
704
705 const Derived & derived() const
706 {
707 return static_cast<const Derived &>(*this);
708 }
710
711 protected:
715 LieGroupBase()
716 {
717 }
718
722 LieGroupBase(const LieGroupBase & /*clone*/)
723 {
724 }
725
729 LieGroupBase & operator=(const LieGroupBase & /*other*/)
730 {
731 return *this;
732 }
733
734 // C++11
735 // LieGroupBase(const LieGroupBase &) = delete;
736 // LieGroupBase& operator=(const LieGroupBase & /*x*/) = delete;
737 }; // struct LieGroupBase
738
739} // namespace pinocchio
740
741#include "pinocchio/multibody/liegroup/liegroup-base.hxx"
742
743#endif // ifndef __pinocchio_multibody_liegroup_liegroup_operation_base_hpp__
pinocchio
Main pinocchio namespace.
Definition treeview.dox:11
pinocchio::ArgumentPosition
ArgumentPosition
Argument position. Used as template parameter to refer to an argument.
Definition fwd.hpp:122
pinocchio::LieGroupBase::random
void random(const Eigen::MatrixBase< Config_t > &qout) const
Generate a random joint configuration, normalizing quaternions when necessary.
pinocchio::LieGroupBase::interpolate
void interpolate(const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &u, const Eigen::MatrixBase< ConfigOut_t > &qout) const
Interpolation between two joint's configurations.
pinocchio::LieGroupBase::name
std::string name() const
Get name of instance.
pinocchio::LieGroupBase::integrate
void integrate(const Eigen::MatrixBase< ConfigIn_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< ConfigOut_t > &qout) const
Integrate a joint's configuration with a tangent vector during one unit time duration.
pinocchio::LieGroupBase::nv
Index nv() const
Get dimension of Lie Group tangent space.
pinocchio::LieGroupBase::dIntegrateTransport
void dIntegrateTransport(const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout, const ArgumentPosition arg) const
Transport a matrix from the terminal to the initial tangent space of the integrate operation,...
pinocchio::LieGroupBase::dIntegrateTransport_dq
void dIntegrateTransport_dq(const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< Jacobian_t > &J) const
Transport in place a matrix from the terminal to the initial tangent space of the integrate operation...
pinocchio::LieGroupBase::isEqual_impl
bool isEqual_impl(const LieGroupBase &) const
Default equality check. By default, two LieGroupBase of same type are considered equal.
Definition liegroup-base.hpp:678
pinocchio::LieGroupBase::dIntegrateTransport_dv
void dIntegrateTransport_dv(const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout) const
Transport a matrix from the terminal to the initial tangent space of the integrate operation,...
pinocchio::LieGroupBase::normalize
void normalize(const Eigen::MatrixBase< Config_t > &qout) const
Normalize the joint configuration given as input. For instance, the quaternion must be unitary.
pinocchio::LieGroupBase::LieGroupBase
LieGroupBase(const LieGroupBase &)
Definition liegroup-base.hpp:722
pinocchio::LieGroupBase::dIntegrateTransport_dq
void dIntegrateTransport_dq(const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout) const
Transport a matrix from the terminal to the initial tangent space of the integrate operation,...
pinocchio::LieGroupBase::distance
Scalar distance(const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const
Distance between two configurations of the joint.
pinocchio::LieGroupBase::dIntegrate_dq
void dIntegrate_dq(const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const AssignmentOperatorType op=SETTO) const
Computes the Jacobian of a small variation of the configuration vector into tangent space at identity...
pinocchio::LieGroupBase::squaredDistance
Scalar squaredDistance(const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const
Squared distance between two joint configurations.
pinocchio::LieGroupBase::dIntegrateTransport
void dIntegrateTransport(const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< Jacobian_t > &J, const ArgumentPosition arg) const
Transport in place a matrix from the terminal to the initial tangent space of the integrate operation...
pinocchio::LieGroupBase::operator=
LieGroupBase & operator=(const LieGroupBase &)
Definition liegroup-base.hpp:729
pinocchio::LieGroupBase::dDifference
void dDifference(const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< JacobianOut_t > &J) const
Computes the Jacobian of the difference operation with respect to q0 or q1.
pinocchio::LieGroupBase::dDifference
void dDifference(const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< JacobianOut_t > &J, const ArgumentPosition arg) const
Computes the Jacobian of the difference operation with respect to q0 or q1.
pinocchio::LieGroupBase::dIntegrateTransport_dv
void dIntegrateTransport_dv(const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< Jacobian_t > &J) const
Transport in place a matrix from the terminal to the initial tangent space of the integrate operation...
pinocchio::LieGroupBase::neutral
ConfigVector_t neutral() const
Get neutral element as a vector.
pinocchio::LieGroupBase::dIntegrate_dv
void dIntegrate_dv(const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const AssignmentOperatorType op=SETTO) const
Computes the Jacobian of a small variation of the tangent vector into tangent space at identity.
pinocchio::LieGroupBase::dIntegrate
void dIntegrate(const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO) const
Computes the Jacobian of a small variation of the configuration vector or the tangent vector into tan...
pinocchio::LieGroupBase::isSameConfiguration
bool isSameConfiguration(const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
Check if two configurations are equivalent within the given precision.
pinocchio::LieGroupBase::difference
void difference(const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< Tangent_t > &v) const
Computes the tangent vector that must be integrated during one unit time to go from q0 to q1.
pinocchio::LieGroupBase::randomConfiguration
void randomConfiguration(const Eigen::MatrixBase< ConfigL_t > &lower_pos_limit, const Eigen::MatrixBase< ConfigR_t > &upper_pos_limit, const Eigen::MatrixBase< ConfigOut_t > &qout) const
Generate a configuration vector uniformly sampled among provided limits.
pinocchio::LieGroupBase::dIntegrate
void dIntegrate(const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, AssignmentOperatorType op=SETTO) const
Computes the Jacobian of a small variation of the configuration vector or the tangent vector into tan...
Definition liegroup-base.hpp:105
pinocchio::LieGroupBase::isNormalized
bool isNormalized(const Eigen::MatrixBase< Config_t > &qin, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
Check whether the input joint configuration is normalized. For instance, the quaternion must be unita...
pinocchio::LieGroupBase::integrateCoeffWiseJacobian
void integrateCoeffWiseJacobian(const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Jacobian_t > &J) const
Computes the Jacobian of the integrate operator around zero.
pinocchio::traits
Common traits structure to fully define base classes for CRTP.
Definition fwd.hpp:72