LogCholeskyParametersTpl< _Scalar, _Options > Struct Template Reference

A structure representing log Cholesky parameters. More...

#include <pinocchio/spatial/inertia.hpp>

Public Types
enum	{ Options = _Options }
typedef Eigen::Matrix< Scalar, 10, 10, Options >	Matrix10
typedef PseudoInertiaTpl< Scalar, Options >	PseudoInertia
typedef _Scalar	Scalar
typedef Eigen::Matrix< Scalar, 10, 1, Options >	Vector10

Public Member Functions
	LogCholeskyParametersTpl (const Vector10 &log_cholesky)
	Constructor for LogCholeskyParametersTpl.
Matrix10	calculateJacobian () const
	Calculates the Jacobian of the log Cholesky parameters.
template<typename NewScalar >
LogCholeskyParametersTpl< NewScalar, Options >	cast () const
void	disp_impl (std::ostream &os) const
Vector10	toDynamicParameters () const
	Converts the LogCholeskyParametersTpl object to dynamic parameters.
InertiaTpl< Scalar, Options >	toInertia () const
	Converts the LogCholeskyParametersTpl object to an InertiaTpl object.
PseudoInertia	toPseudoInertia () const
	Converts the LogCholeskyParametersTpl object to a PseudoInertiaTpl object.

Public Attributes
Vector10	parameters
	10-dimensional vector of log Cholesky parameters

Friends
std::ostream &	operator<< (std::ostream &os, const LogCholeskyParametersTpl &lcp)

Detailed Description

template<typename _Scalar, int _Options>
struct pinocchio::LogCholeskyParametersTpl< _Scalar, _Options >

A structure representing log Cholesky parameters.

References:

• Rucker, Caleb, and Patrick M. Wensing. "Smooth parameterization of rigid-body inertia." IEEE Robotics and Automation Letters 7.2 (2022): 2771-2778.

Definition at line 1103 of file inertia.hpp.

Member Typedef Documentation

Matrix10

template<typename _Scalar , int _Options>

typedef Eigen::Matrix<Scalar, 10, 10, Options> Matrix10

Definition at line 1111 of file inertia.hpp.

PseudoInertia

template<typename _Scalar , int _Options>

typedef PseudoInertiaTpl<Scalar, Options> PseudoInertia

Definition at line 1112 of file inertia.hpp.

Scalar

template<typename _Scalar , int _Options>

typedef _Scalar Scalar

Definition at line 1105 of file inertia.hpp.

Vector10

template<typename _Scalar , int _Options>

typedef Eigen::Matrix<Scalar, 10, 1, Options> Vector10

Definition at line 1110 of file inertia.hpp.

Member Enumeration Documentation

anonymous enum

template<typename _Scalar , int _Options>

anonymous enum

Definition at line 1106 of file inertia.hpp.

Constructor & Destructor Documentation

LogCholeskyParametersTpl()

template<typename _Scalar , int _Options>

LogCholeskyParametersTpl ( const Vector10 &  log_cholesky )

inlineexplicit

Constructor for LogCholeskyParametersTpl.

Parameters

log_cholesky

A 10-dimensional vector of log Cholesky parameters.

Definition at line 1119 of file inertia.hpp.

Member Function Documentation

calculateJacobian()

template<typename _Scalar , int _Options>

Matrix10 calculateJacobian ( ) const

inline

Calculates the Jacobian of the log Cholesky parameters.

Returns

A 10x10 matrix representing the Jacobian.

Definition at line 1192 of file inertia.hpp.

cast()

template<typename _Scalar , int _Options>

template<typename NewScalar >

LogCholeskyParametersTpl< NewScalar, Options > cast ( ) const

inline

Returns

An expression of *this with the Scalar type casted to NewScalar.

Definition at line 1280 of file inertia.hpp.

disp_impl()

template<typename _Scalar , int _Options>

void disp_impl ( std::ostream &  os ) const

inline

Definition at line 1285 of file inertia.hpp.

toDynamicParameters()

template<typename _Scalar , int _Options>

Vector10 toDynamicParameters ( ) const

inline

Converts the LogCholeskyParametersTpl object to dynamic parameters.

Returns

A 10-dimensional vector of dynamic parameters.

Definition at line 1127 of file inertia.hpp.

toInertia()

template<typename _Scalar , int _Options>

InertiaTpl< Scalar, Options > toInertia ( ) const

inline

Converts the LogCholeskyParametersTpl object to an InertiaTpl object.

Returns

An InertiaTpl object.

Definition at line 1182 of file inertia.hpp.

toPseudoInertia()

template<typename _Scalar , int _Options>

PseudoInertia toPseudoInertia ( ) const

inline

Converts the LogCholeskyParametersTpl object to a PseudoInertiaTpl object.

Returns

A PseudoInertiaTpl object.

Definition at line 1172 of file inertia.hpp.

Friends And Related Symbol Documentation

operator<<

template<typename _Scalar , int _Options>

std::ostream & operator<< ( std::ostream &  os, const LogCholeskyParametersTpl< _Scalar, _Options > &  lcp  )

friend

Definition at line 1299 of file inertia.hpp.

Member Data Documentation

parameters

template<typename _Scalar , int _Options>

Vector10 parameters

10-dimensional vector of log Cholesky parameters

Definition at line 1114 of file inertia.hpp.

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The documentation for this struct was generated from the following files:

• include/pinocchio/spatial/fwd.hpp
• include/pinocchio/spatial/inertia.hpp