pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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liegroup-variant-visitors.hpp
1//
2// Copyright (c) 2018 CNRS
3//
4
5#ifndef __pinocchio_lie_group_variant_visitor_hpp__
6#define __pinocchio_lie_group_variant_visitor_hpp__
7
8#include "pinocchio/multibody/liegroup/fwd.hpp"
9
10namespace pinocchio
11{
12
21 template<typename LieGroupCollection>
22 inline int nq(const LieGroupGenericTpl<LieGroupCollection> & lg);
23
32 template<typename LieGroupCollection>
33 inline int nv(const LieGroupGenericTpl<LieGroupCollection> & lg);
34
42 template<typename LieGroupCollection>
43 inline std::string name(const LieGroupGenericTpl<LieGroupCollection> & lg);
44
52 template<typename LieGroupCollection>
53 inline Eigen::
54 Matrix<typename LieGroupCollection::Scalar, Eigen::Dynamic, 1, LieGroupCollection::Options>
55 neutral(const LieGroupGenericTpl<LieGroupCollection> & lg);
56
65 template<typename LieGroupCollection, class ConfigIn_t, class Tangent_t, class ConfigOut_t>
66 inline void integrate(
67 const LieGroupGenericTpl<LieGroupCollection> & lg,
68 const Eigen::MatrixBase<ConfigIn_t> & q,
69 const Eigen::MatrixBase<Tangent_t> & v,
70 const Eigen::MatrixBase<ConfigOut_t> & qout);
71
72 template<typename LieGroupCollection, class Config_t>
73 inline void random(
74 const LieGroupGenericTpl<LieGroupCollection> & lg, const Eigen::MatrixBase<Config_t> & qout);
75
76 template<typename LieGroupCollection, class Config_t>
77 inline void normalize(
78 const LieGroupGenericTpl<LieGroupCollection> & lg, const Eigen::MatrixBase<Config_t> & qout);
79
80 template<typename LieGroupCollection, class Config_t>
81 inline bool isNormalized(
82 const LieGroupGenericTpl<LieGroupCollection> & lg,
83 const Eigen::MatrixBase<Config_t> & qin,
84 const typename Config_t::Scalar & prec =
85 Eigen::NumTraits<typename Config_t::Scalar>::dummy_precision());
86
87 template<typename LieGroupCollection, class ConfigL_t, class ConfigR_t>
88 inline bool isSameConfiguration(
89 const LieGroupGenericTpl<LieGroupCollection> & lg,
90 const Eigen::MatrixBase<ConfigL_t> & q0,
91 const Eigen::MatrixBase<ConfigR_t> & q1,
92 const typename ConfigL_t::Scalar & prec);
93
94 template<typename LieGroupCollection, class ConfigL_t, class ConfigR_t>
95 inline typename ConfigL_t::Scalar squaredDistance(
96 const LieGroupGenericTpl<LieGroupCollection> & lg,
97 const Eigen::MatrixBase<ConfigL_t> & q0,
98 const Eigen::MatrixBase<ConfigR_t> & q1);
99
100 template<typename LieGroupCollection, class ConfigL_t, class ConfigR_t>
101 inline typename ConfigL_t::Scalar distance(
102 const LieGroupGenericTpl<LieGroupCollection> & lg,
103 const Eigen::MatrixBase<ConfigL_t> & q0,
104 const Eigen::MatrixBase<ConfigR_t> & q1)
105 {
106 return std::sqrt(squaredDistance(lg, q0, q1));
107 }
108
109 template<typename LieGroupCollection, class ConfigL_t, class ConfigR_t, class Tangent_t>
110 inline void difference(
111 const LieGroupGenericTpl<LieGroupCollection> & lg,
112 const Eigen::MatrixBase<ConfigL_t> & q0,
113 const Eigen::MatrixBase<ConfigR_t> & q1,
114 const Eigen::MatrixBase<Tangent_t> & v);
115
116 template<typename LieGroupCollection, class ConfigL_t, class ConfigR_t, class ConfigOut_t>
117 inline void randomConfiguration(
118 const LieGroupGenericTpl<LieGroupCollection> & lg,
119 const Eigen::MatrixBase<ConfigL_t> & q0,
120 const Eigen::MatrixBase<ConfigR_t> & q1,
121 const Eigen::MatrixBase<ConfigOut_t> & qout);
122
123 template<typename LieGroupCollection, class ConfigL_t, class ConfigR_t, class ConfigOut_t>
124 inline void interpolate(
125 const LieGroupGenericTpl<LieGroupCollection> & lg,
126 const Eigen::MatrixBase<ConfigL_t> & q0,
127 const Eigen::MatrixBase<ConfigR_t> & q1,
128 const typename ConfigL_t::Scalar & u,
129 const Eigen::MatrixBase<ConfigOut_t> & qout);
130
131 template<typename LieGroupCollection, class Config_t, class Tangent_t, class JacobianOut_t>
132 void dIntegrate(
133 const LieGroupGenericTpl<LieGroupCollection> & lg,
134 const Eigen::MatrixBase<Config_t> & q,
135 const Eigen::MatrixBase<Tangent_t> & v,
136 const Eigen::MatrixBase<JacobianOut_t> & J,
137 const ArgumentPosition arg,
138 const AssignmentOperatorType op = SETTO);
139
140 template<
141 typename LieGroupCollection,
142 class Config_t,
143 class Tangent_t,
144 class JacobianIn_t,
145 class JacobianOut_t>
146 void dIntegrate(
147 const LieGroupGenericTpl<LieGroupCollection> & lg,
148 const Eigen::MatrixBase<Config_t> & q,
149 const Eigen::MatrixBase<Tangent_t> & v,
150 const Eigen::MatrixBase<JacobianIn_t> & J_in,
151 int self,
152 const Eigen::MatrixBase<JacobianOut_t> & J_out,
153 const ArgumentPosition arg,
154 const AssignmentOperatorType op = SETTO);
155
156 template<
157 typename LieGroupCollection,
158 class Config_t,
159 class Tangent_t,
160 class JacobianIn_t,
161 class JacobianOut_t>
162 void dIntegrate(
163 const LieGroupGenericTpl<LieGroupCollection> & lg,
164 const Eigen::MatrixBase<Config_t> & q,
165 const Eigen::MatrixBase<Tangent_t> & v,
166 int self,
167 const Eigen::MatrixBase<JacobianIn_t> & J_in,
168 const Eigen::MatrixBase<JacobianOut_t> & J_out,
169 const ArgumentPosition arg,
170 const AssignmentOperatorType op = SETTO);
171
172 template<typename LieGroupCollection, class ConfigL_t, class ConfigR_t, class JacobianOut_t>
173 void dDifference(
174 const LieGroupGenericTpl<LieGroupCollection> & lg,
175 const Eigen::MatrixBase<ConfigL_t> & q0,
176 const Eigen::MatrixBase<ConfigR_t> & q1,
177 const Eigen::MatrixBase<JacobianOut_t> & J,
178 const ArgumentPosition arg);
179
180 template<
181 typename LieGroupCollection,
182 class ConfigL_t,
183 class ConfigR_t,
184 class JacobianIn_t,
185 class JacobianOut_t>
186 void dDifference(
187 const LieGroupGenericTpl<LieGroupCollection> & lg,
188 const Eigen::MatrixBase<ConfigL_t> & q0,
189 const Eigen::MatrixBase<ConfigR_t> & q1,
190 const Eigen::MatrixBase<JacobianIn_t> & Jin,
191 int self,
192 const Eigen::MatrixBase<JacobianOut_t> & Jout,
193 const ArgumentPosition arg);
194
195 template<
196 typename LieGroupCollection,
197 class ConfigL_t,
198 class ConfigR_t,
199 class JacobianIn_t,
200 class JacobianOut_t>
201 void dDifference(
202 const LieGroupGenericTpl<LieGroupCollection> & lg,
203 const Eigen::MatrixBase<ConfigL_t> & q0,
204 const Eigen::MatrixBase<ConfigR_t> & q1,
205 int self,
206 const Eigen::MatrixBase<JacobianIn_t> & Jin,
207 const Eigen::MatrixBase<JacobianOut_t> & Jout,
208 const ArgumentPosition arg);
209
210 template<
211 typename LieGroupCollection,
212 class Config_t,
213 class Tangent_t,
214 class JacobianIn_t,
215 class JacobianOut_t>
216 void dIntegrateTransport(
217 const LieGroupGenericTpl<LieGroupCollection> & lg,
218 const Eigen::MatrixBase<Config_t> & q,
219 const Eigen::MatrixBase<Tangent_t> & v,
220 const Eigen::MatrixBase<JacobianIn_t> & J_in,
221 const Eigen::MatrixBase<JacobianOut_t> & J_out,
222 const ArgumentPosition arg);
223
224 template<typename LieGroupCollection, class Config_t, class Tangent_t, class JacobianOut_t>
225 void dIntegrateTransport(
226 const LieGroupGenericTpl<LieGroupCollection> & lg,
227 const Eigen::MatrixBase<Config_t> & q,
228 const Eigen::MatrixBase<Tangent_t> & v,
229 const Eigen::MatrixBase<JacobianOut_t> & J,
230 const ArgumentPosition arg);
231} // namespace pinocchio
232
234#include "pinocchio/multibody/liegroup/liegroup-variant-visitors.hxx"
235
236#endif // ifndef __pinocchio_lie_group_variant_visitor_hpp__
pinocchio
Main pinocchio namespace.
Definition treeview.dox:11
pinocchio::neutral
void neutral(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ReturnType > &qout)
Return the neutral configuration element related to the model configuration space.
pinocchio::nv
int nv(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointNvVisitor to get the dimension of the joint tangent space.
pinocchio::ArgumentPosition
ArgumentPosition
Argument position. Used as template parameter to refer to an argument.
Definition fwd.hpp:122
pinocchio::normalize
void normalize(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &qout)
Normalize a configuration vector.
pinocchio::nq
int nq(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointNqVisitor to get the dimension of the joint configuration space.
pinocchio::difference
void difference(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1, const Eigen::MatrixBase< ReturnType > &dvout)
Compute the tangent vector that must be integrated during one unit time to go from q0 to q1.
pinocchio::name
std::string name(const LieGroupGenericTpl< LieGroupCollection > &lg)
Visit a LieGroupVariant to get the name of it.
pinocchio::integrate
void integrate(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< ReturnType > &qout)
Integrate a configuration vector for the specified model for a tangent vector during one unit time.
pinocchio::distance
Scalar distance(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1)
Distance between two configuration vectors, namely .
pinocchio::dIntegrateTransport
void dIntegrateTransport(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< JacobianMatrixType1 > &Jin, const Eigen::MatrixBase< JacobianMatrixType2 > &Jout, const ArgumentPosition arg)
Transport a matrix from the terminal to the initial tangent space of the integrate operation,...
pinocchio::randomConfiguration
void randomConfiguration(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &lowerLimits, const Eigen::MatrixBase< ConfigVectorIn2 > &upperLimits, const Eigen::MatrixBase< ReturnType > &qout)
Generate a configuration vector uniformly sampled among provided limits.
pinocchio::interpolate
void interpolate(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1, const Scalar &u, const Eigen::MatrixBase< ReturnType > &qout)
Interpolate two configurations for a given model.
pinocchio::isSameConfiguration
bool isSameConfiguration(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q1, const Eigen::MatrixBase< ConfigVectorIn2 > &q2, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision())
Return true if the given configurations are equivalents, within the given precision.
pinocchio::dDifference
void dDifference(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVector1 > &q0, const Eigen::MatrixBase< ConfigVector2 > &q1, const Eigen::MatrixBase< JacobianMatrix > &J, const ArgumentPosition arg)
Computes the Jacobian of a small variation of the configuration vector into the tangent space at iden...
pinocchio::isNormalized
bool isNormalized(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision())
Check whether a configuration vector is normalized within the given precision provided by prec.
pinocchio::dIntegrate
void dIntegrate(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< JacobianMatrixType > &J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO)
Computes the Jacobian of a small variation of the configuration vector or the tangent vector into the...
pinocchio::squaredDistance
void squaredDistance(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorIn1 > &q0, const Eigen::MatrixBase< ConfigVectorIn2 > &q1, const Eigen::MatrixBase< ReturnType > &out)
Squared distance between two configuration vectors.