Inheritance diagram for SE3Tpl< _Scalar, _Options >:

[legend]

Collaboration diagram for SE3Tpl< _Scalar, _Options >:

[legend]

Public Types
typedef SE3Base< SE3Tpl< _Scalar, _Options > >	Base

typedef traits< SE3Tpl >::Matrix3	Matrix3

typedef traits< SE3Tpl >::Matrix4	Matrix4

typedef traits< SE3Tpl >::Matrix6	Matrix6

typedef Eigen::Quaternion< Scalar, Options >	Quaternion

typedef traits< SE3Tpl >::Vector3	Vector3

typedef traits< SE3Tpl >::Vector4	Vector4

Public Types inherited from NumericalBase< Derived >
typedef traits< Derived >::Scalar	Scalar

Public Member Functions
template<typename Matrix3Like , typename Vector3Like >
	SE3Tpl (const Eigen::MatrixBase< Matrix3Like > &R, const Eigen::MatrixBase< Vector3Like > &trans)

template<typename Matrix4Like >
	SE3Tpl (const Eigen::MatrixBase< Matrix4Like > &m)

template<typename QuaternionLike , typename Vector3Like >
	SE3Tpl (const Eigen::QuaternionBase< QuaternionLike > &quat, const Eigen::MatrixBase< Vector3Like > &trans)

	SE3Tpl (const SE3Tpl &other)

template<typename S2 , int O2>
	SE3Tpl (const SE3Tpl< S2, O2 > &other)

template<int O2>
	SE3Tpl (const SE3Tpl< Scalar, O2 > &clone)

	SE3Tpl (int)

template<int O2>
SE3Tpl	__mult__ (const SE3Tpl< Scalar, O2 > &m2) const

template<typename D >
SE3GroupAction< D >::ReturnType	act_impl (const D &d) const
	— GROUP ACTIONS ON M6, F6 and I6 —

template<int O2>
SE3Tpl	act_impl (const SE3Tpl< Scalar, O2 > &m2) const

Vector3	act_impl (const Vector3 &p) const

template<typename D >
SE3GroupAction< D >::ReturnType	actInv_impl (const D &d) const
	by = aXb.actInv(ay)

template<int O2>
SE3Tpl	actInv_impl (const SE3Tpl< Scalar, O2 > &m2) const

Vector3	actInv_impl (const Vector3 &p) const

template<typename MapDerived >
Vector3	actInvOnEigenObject (const Eigen::MapBase< MapDerived > &p) const

template<typename EigenDerived >
EigenDerived::PlainObject	actInvOnEigenObject (const Eigen::MatrixBase< EigenDerived > &p) const

template<typename MapDerived >
Vector3	actOnEigenObject (const Eigen::MapBase< MapDerived > &p) const

template<typename EigenDerived >
EigenDerived::PlainObject	actOnEigenObject (const Eigen::MatrixBase< EigenDerived > &p) const

template<typename NewScalar >
SE3Tpl< NewScalar, Options >	cast () const

void	disp_impl (std::ostream &os) const

template<typename OtherScalar >
SE3Tpl< Scalar, Options >	Interpolate (const SE3Tpl &A, const SE3Tpl &B, const OtherScalar &alpha)

SE3Tpl	inverse () const
	aXb = bXa.inverse()

template<int O2>
bool	isApprox_impl (const SE3Tpl< Scalar, O2 > &m2, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

template<int O2>
bool	isEqual (const SE3Tpl< Scalar, O2 > &m2) const

bool	isIdentity (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

bool	isNormalized (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

void	normalize ()

PlainType	normalized () const

SE3Tpl &	operator= (const SE3Tpl &other)
	Copy assignment operator.

template<int O2>
SE3Tpl &	operator= (const SE3Tpl< Scalar, O2 > &other)

	PINOCCHIO_SE3_TYPEDEF_TPL (SE3Tpl)

AngularRef	rotation_impl ()

ConstAngularRef	rotation_impl () const

void	rotation_impl (const AngularType &R)

SE3Tpl &	setIdentity ()

SE3Tpl &	setRandom ()

ActionMatrixType	toActionMatrix_impl () const

template<typename Matrix6Like >
void	toActionMatrix_impl (const Eigen::MatrixBase< Matrix6Like > &action_matrix) const
	Vb.toVector() = bXa.toMatrix() * Va.toVector()

ActionMatrixType	toActionMatrixInverse_impl () const

template<typename Matrix6Like >
void	toActionMatrixInverse_impl (const Eigen::MatrixBase< Matrix6Like > &action_matrix_inverse) const

ActionMatrixType	toDualActionMatrix_impl () const

template<typename Matrix6Like >
void	toDualActionMatrix_impl (const Eigen::MatrixBase< Matrix6Like > &dual_action_matrix) const

HomogeneousMatrixType	toHomogeneousMatrix_impl () const

LinearRef	translation_impl ()

ConstLinearRef	translation_impl () const

void	translation_impl (const LinearType &p)

Public Member Functions inherited from SE3Base< SE3Tpl< _Scalar, _Options > >
SE3GroupAction< D >::ReturnType	act (const D &d) const
	ay = aXb.act(by)

SE3GroupAction< D >::ReturnType	actInv (const D &d) const
	by = aXb.actInv(ay)

SE3Tpl< _Scalar, _Options > &	const_cast_derived () const

SE3Tpl< _Scalar, _Options > &	derived ()

const SE3Tpl< _Scalar, _Options > &	derived () const

void	disp (std::ostream &os) const

bool	isApprox (const SE3Tpl< _Scalar, _Options > &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

bool	isIdentity (const typename traits< SE3Tpl< _Scalar, _Options > >::Scalar &prec=Eigen::NumTraits< typename traits< SE3Tpl< _Scalar, _Options > >::Scalar >::dummy_precision()) const

bool	isNormalized (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

void	normalize ()
	Normalize this in such a way the rotation part of this lies on SO(3).

PlainType	normalized () const

	operator ActionMatrixType () const

	operator HomogeneousMatrixType () const

bool	operator!= (const SE3Tpl< _Scalar, _Options > &other) const

SE3GroupAction< SE3Tpl< _Scalar, _Options > >::ReturnType	operator* (const SE3Tpl< _Scalar, _Options > &m2) const

bool	operator== (const SE3Tpl< _Scalar, _Options > &other) const

	PINOCCHIO_SE3_TYPEDEF_TPL (SE3Tpl< _Scalar, _Options >)

AngularRef	rotation ()

ConstAngularRef	rotation () const

void	rotation (const AngularType &R)

ActionMatrixType	toActionMatrix () const
	The action matrix \( {}^aX_b \) of \( {}^aM_b \).

void	toActionMatrix (const Eigen::MatrixBase< Matrix6Like > &action_matrix) const

ActionMatrixType	toActionMatrixInverse () const
	The action matrix \( {}^bX_a \) of \( {}^aM_b \).

void	toActionMatrixInverse (const Eigen::MatrixBase< Matrix6Like > &action_matrix_inverse) const

ActionMatrixType	toDualActionMatrix () const

void	toDualActionMatrix (const Eigen::MatrixBase< Matrix6Like > &dual_action_matrix) const

HomogeneousMatrixType	toHomogeneousMatrix () const

LinearRef	translation ()

ConstLinearRef	translation () const

void	translation (const LinearType &t)

Static Public Member Functions
static SE3Tpl	Identity ()

template<typename OtherScalar >
static SE3Tpl	Interpolate (const SE3Tpl &A, const SE3Tpl &B, const OtherScalar &alpha)
	Linear interpolation on the SE3 manifold.

static SE3Tpl	Random ()

Protected Attributes
AngularType	rot

LinearType	trans

Detailed Description

template<typename _Scalar, int _Options>
struct pinocchio::SE3Tpl< _Scalar, _Options >

Definition at line 48 of file se3-tpl.hpp.

Member Typedef Documentation

◆ Base

template<typename _Scalar , int _Options>

typedef SE3Base<SE3Tpl<_Scalar, _Options> > Base

Definition at line 53 of file se3-tpl.hpp.

◆ Matrix3

template<typename _Scalar , int _Options>

typedef traits<SE3Tpl>::Matrix3 Matrix3

Definition at line 56 of file se3-tpl.hpp.

◆ Matrix4

template<typename _Scalar , int _Options>

typedef traits<SE3Tpl>::Matrix4 Matrix4

Definition at line 57 of file se3-tpl.hpp.

◆ Matrix6

template<typename _Scalar , int _Options>

typedef traits<SE3Tpl>::Matrix6 Matrix6

Definition at line 59 of file se3-tpl.hpp.

◆ Quaternion

template<typename _Scalar , int _Options>

typedef Eigen::Quaternion<Scalar, Options> Quaternion

Definition at line 54 of file se3-tpl.hpp.

◆ Vector3

template<typename _Scalar , int _Options>

typedef traits<SE3Tpl>::Vector3 Vector3

Definition at line 55 of file se3-tpl.hpp.

◆ Vector4

template<typename _Scalar , int _Options>

typedef traits<SE3Tpl>::Vector4 Vector4

Definition at line 58 of file se3-tpl.hpp.

Constructor & Destructor Documentation

◆ SE3Tpl() [1/8]

template<typename _Scalar , int _Options>

SE3Tpl ( )

inline

Definition at line 64 of file se3-tpl.hpp.

◆ SE3Tpl() [2/8]

template<typename _Scalar , int _Options>

template<typename QuaternionLike , typename Vector3Like >

SE3Tpl	(	const Eigen::QuaternionBase< QuaternionLike > &	quat,
		const Eigen::MatrixBase< Vector3Like > &	trans
	)

inline

Definition at line 69 of file se3-tpl.hpp.

◆ SE3Tpl() [3/8]

template<typename _Scalar , int _Options>

template<typename Matrix3Like , typename Vector3Like >

SE3Tpl	(	const Eigen::MatrixBase< Matrix3Like > &	R,
		const Eigen::MatrixBase< Vector3Like > &	trans
	)

inline

Definition at line 79 of file se3-tpl.hpp.

◆ SE3Tpl() [4/8]

template<typename _Scalar , int _Options>

SE3Tpl ( const SE3Tpl< _Scalar, _Options > & other )

inline

Definition at line 84 of file se3-tpl.hpp.

◆ SE3Tpl() [5/8]

template<typename _Scalar , int _Options>

template<typename S2 , int O2>

SE3Tpl ( const SE3Tpl< S2, O2 > & other )

inlineexplicit

Definition at line 90 of file se3-tpl.hpp.

◆ SE3Tpl() [6/8]

template<typename _Scalar , int _Options>

template<typename Matrix4Like >

SE3Tpl ( const Eigen::MatrixBase< Matrix4Like > & m )

inlineexplicit

Definition at line 96 of file se3-tpl.hpp.

◆ SE3Tpl() [7/8]

template<typename _Scalar , int _Options>

SE3Tpl ( int )

inlineexplicit

Definition at line 103 of file se3-tpl.hpp.

◆ SE3Tpl() [8/8]

template<typename _Scalar , int _Options>

template<int O2>

SE3Tpl ( const SE3Tpl< Scalar, O2 > & clone )

inline

Definition at line 110 of file se3-tpl.hpp.

Member Function Documentation

◆ mult()

template<typename _Scalar , int _Options>

template<int O2>

SE3Tpl __mult__ ( const SE3Tpl< Scalar, O2 > & m2 ) const

inline

Definition at line 327 of file se3-tpl.hpp.

◆ act_impl() [1/3]

template<typename _Scalar , int _Options>

template<typename D >

SE3GroupAction< D >::ReturnType act_impl ( const D & d ) const

inline

— GROUP ACTIONS ON M6, F6 and I6 —

ay = aXb.act(by)

Definition at line 265 of file se3-tpl.hpp.

◆ act_impl() [2/3]

template<typename _Scalar , int _Options>

template<int O2>

SE3Tpl act_impl ( const SE3Tpl< Scalar, O2 > & m2 ) const

inline

Definition at line 314 of file se3-tpl.hpp.

◆ act_impl() [3/3]

template<typename _Scalar , int _Options>

Vector3 act_impl ( const Vector3 & p ) const

inline

Definition at line 303 of file se3-tpl.hpp.

◆ actInv_impl() [1/3]

template<typename _Scalar , int _Options>

template<typename D >

SE3GroupAction< D >::ReturnType actInv_impl ( const D & d ) const

inline

by = aXb.actInv(ay)

Definition at line 272 of file se3-tpl.hpp.

◆ actInv_impl() [2/3]

template<typename _Scalar , int _Options>

template<int O2>

SE3Tpl actInv_impl ( const SE3Tpl< Scalar, O2 > & m2 ) const

inline

Definition at line 320 of file se3-tpl.hpp.

◆ actInv_impl() [3/3]

template<typename _Scalar , int _Options>

Vector3 actInv_impl ( const Vector3 & p ) const

inline

Definition at line 308 of file se3-tpl.hpp.

◆ actInvOnEigenObject() [1/2]

template<typename _Scalar , int _Options>

template<typename MapDerived >

Vector3 actInvOnEigenObject ( const Eigen::MapBase< MapDerived > & p ) const

inline

Definition at line 298 of file se3-tpl.hpp.

◆ actInvOnEigenObject() [2/2]

template<typename _Scalar , int _Options>

template<typename EigenDerived >

EigenDerived::PlainObject actInvOnEigenObject ( const Eigen::MatrixBase< EigenDerived > & p ) const

inline

Definition at line 292 of file se3-tpl.hpp.

◆ actOnEigenObject() [1/2]

template<typename _Scalar , int _Options>

template<typename MapDerived >

Vector3 actOnEigenObject ( const Eigen::MapBase< MapDerived > & p ) const

inline

Definition at line 285 of file se3-tpl.hpp.

◆ actOnEigenObject() [2/2]

template<typename _Scalar , int _Options>

template<typename EigenDerived >

EigenDerived::PlainObject actOnEigenObject ( const Eigen::MatrixBase< EigenDerived > & p ) const

inline

Definition at line 279 of file se3-tpl.hpp.

◆ cast()

template<typename _Scalar , int _Options>

template<typename NewScalar >

SE3Tpl< NewScalar, Options > cast ( ) const

inline

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

Definition at line 379 of file se3-tpl.hpp.

◆ disp_impl()

template<typename _Scalar , int _Options>

void disp_impl ( std::ostream & os ) const

inline

Definition at line 256 of file se3-tpl.hpp.

◆ Identity()

template<typename _Scalar , int _Options>

static SE3Tpl Identity ( )

inlinestatic

Definition at line 136 of file se3-tpl.hpp.

◆ Interpolate() [1/2]

template<typename _Scalar , int _Options>

template<typename OtherScalar >

SE3Tpl< Scalar, Options > Interpolate	(	const SE3Tpl< _Scalar, _Options > &	A,
		const SE3Tpl< _Scalar, _Options > &	B,
		const OtherScalar &	alpha
	)

Definition at line 690 of file explog.hpp.

◆ Interpolate() [2/2]

template<typename _Scalar , int _Options>

template<typename OtherScalar >

static SE3Tpl Interpolate	(	const SE3Tpl< _Scalar, _Options > &	A,
		const SE3Tpl< _Scalar, _Options > &	B,
		const OtherScalar &	alpha
	)

static

Linear interpolation on the SE3 manifold.

Parameters

[in]	A	Initial transformation.
[in]	B	Target transformation.
[in]	alpha	Interpolation factor in [0 ... 1].

Returns: An interpolated transformation between A and B.

Note: This is similar to the SLERP operation which acts initially for rotation but applied here to rigid transformation.

◆ inverse()

template<typename _Scalar , int _Options>

SE3Tpl inverse ( ) const

inline

aXb = bXa.inverse()

Definition at line 149 of file se3-tpl.hpp.

◆ isApprox_impl()

template<typename _Scalar , int _Options>

template<int O2>

bool isApprox_impl	(	const SE3Tpl< Scalar, O2 > &	m2,
		const Scalar &	prec = `Eigen::NumTraits<Scalar>::dummy_precision()`
	)		const

inline

Definition at line 339 of file se3-tpl.hpp.

◆ isEqual()

template<typename _Scalar , int _Options>

template<int O2>

bool isEqual ( const SE3Tpl< Scalar, O2 > & m2 ) const

inline

Definition at line 333 of file se3-tpl.hpp.

◆ isIdentity()

template<typename _Scalar , int _Options>

bool isIdentity ( const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision() ) const

inline

Definition at line 347 of file se3-tpl.hpp.

◆ isNormalized()

template<typename _Scalar , int _Options>

bool isNormalized ( const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision() ) const

inline

Definition at line 390 of file se3-tpl.hpp.

◆ normalize()

template<typename _Scalar , int _Options>

void normalize ( )

inline

Definition at line 395 of file se3-tpl.hpp.

◆ normalized()

template<typename _Scalar , int _Options>

PlainType normalized ( ) const

inline

Definition at line 400 of file se3-tpl.hpp.

◆ operator=() [1/2]

template<typename _Scalar , int _Options>

SE3Tpl & operator= ( const SE3Tpl< _Scalar, _Options > & other )

inline

Copy assignment operator.

Parameters

[in] other SE3 to copy

Definition at line 129 of file se3-tpl.hpp.

◆ operator=() [2/2]

template<typename _Scalar , int _Options>

template<int O2>

SE3Tpl & operator= ( const SE3Tpl< Scalar, O2 > & other )

inline

Definition at line 117 of file se3-tpl.hpp.

◆ Random()

template<typename _Scalar , int _Options>

static SE3Tpl Random ( )

inlinestatic

Definition at line 154 of file se3-tpl.hpp.

◆ rotation_impl() [1/3]

template<typename _Scalar , int _Options>

AngularRef rotation_impl ( )

inline

Definition at line 356 of file se3-tpl.hpp.

◆ rotation_impl() [2/3]

template<typename _Scalar , int _Options>

ConstAngularRef rotation_impl ( ) const

inline

Definition at line 352 of file se3-tpl.hpp.

◆ rotation_impl() [3/3]

template<typename _Scalar , int _Options>

void rotation_impl ( const AngularType & R )

inline

Definition at line 360 of file se3-tpl.hpp.

◆ setIdentity()

template<typename _Scalar , int _Options>

SE3Tpl & setIdentity ( )

inline

Definition at line 141 of file se3-tpl.hpp.

◆ setRandom()

template<typename _Scalar , int _Options>

SE3Tpl & setRandom ( )

inline

Definition at line 159 of file se3-tpl.hpp.

◆ toActionMatrix_impl() [1/2]

template<typename _Scalar , int _Options>

ActionMatrixType toActionMatrix_impl ( ) const

inline

Definition at line 195 of file se3-tpl.hpp.

◆ toActionMatrix_impl() [2/2]

template<typename _Scalar , int _Options>

template<typename Matrix6Like >

void toActionMatrix_impl ( const Eigen::MatrixBase< Matrix6Like > & action_matrix ) const

inline

Vb.toVector() = bXa.toMatrix() * Va.toVector()

Definition at line 181 of file se3-tpl.hpp.

◆ toActionMatrixInverse_impl() [1/2]

template<typename _Scalar , int _Options>

ActionMatrixType toActionMatrixInverse_impl ( ) const

inline

Definition at line 227 of file se3-tpl.hpp.

◆ toActionMatrixInverse_impl() [2/2]

template<typename _Scalar , int _Options>

template<typename Matrix6Like >

void toActionMatrixInverse_impl ( const Eigen::MatrixBase< Matrix6Like > & action_matrix_inverse ) const

inline

Definition at line 204 of file se3-tpl.hpp.

◆ toDualActionMatrix_impl() [1/2]

template<typename _Scalar , int _Options>

ActionMatrixType toDualActionMatrix_impl ( ) const

inline

Definition at line 249 of file se3-tpl.hpp.

◆ toDualActionMatrix_impl() [2/2]

template<typename _Scalar , int _Options>

template<typename Matrix6Like >

void toDualActionMatrix_impl ( const Eigen::MatrixBase< Matrix6Like > & dual_action_matrix ) const

inline

Definition at line 235 of file se3-tpl.hpp.

◆ toHomogeneousMatrix_impl()

template<typename _Scalar , int _Options>

HomogeneousMatrixType toHomogeneousMatrix_impl ( ) const

inline

Definition at line 169 of file se3-tpl.hpp.

◆ translation_impl() [1/3]

template<typename _Scalar , int _Options>

LinearRef translation_impl ( )

inline

Definition at line 368 of file se3-tpl.hpp.

◆ translation_impl() [2/3]

template<typename _Scalar , int _Options>

ConstLinearRef translation_impl ( ) const

inline

Definition at line 364 of file se3-tpl.hpp.

◆ translation_impl() [3/3]

template<typename _Scalar , int _Options>

void translation_impl ( const LinearType & p )

inline

Definition at line 372 of file se3-tpl.hpp.

Member Data Documentation

◆ rot

template<typename _Scalar , int _Options>

AngularType rot

protected

Definition at line 423 of file se3-tpl.hpp.

◆ trans

template<typename _Scalar , int _Options>

LinearType trans

protected

Definition at line 424 of file se3-tpl.hpp.

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

include/pinocchio/context/casadi.hpp
include/pinocchio/spatial/se3-tpl.hpp
include/pinocchio/spatial/explog.hpp

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Base

◆ Matrix3

◆ Matrix4

◆ Matrix6

◆ Quaternion

◆ Vector3

◆ Vector4

Constructor & Destructor Documentation

◆ SE3Tpl() [1/8]

◆ SE3Tpl() [2/8]

◆ SE3Tpl() [3/8]

◆ SE3Tpl() [4/8]

◆ SE3Tpl() [5/8]

◆ SE3Tpl() [6/8]

◆ SE3Tpl() [7/8]

◆ SE3Tpl() [8/8]

Member Function Documentation

◆ __mult__()

◆ act_impl() [1/3]

◆ act_impl() [2/3]

◆ act_impl() [3/3]

◆ actInv_impl() [1/3]

◆ actInv_impl() [2/3]

◆ actInv_impl() [3/3]

◆ actInvOnEigenObject() [1/2]

◆ actInvOnEigenObject() [2/2]

◆ actOnEigenObject() [1/2]

◆ actOnEigenObject() [2/2]

◆ cast()

◆ disp_impl()

◆ Identity()

◆ Interpolate() [1/2]

◆ Interpolate() [2/2]

◆ inverse()

◆ isApprox_impl()

◆ isEqual()

◆ isIdentity()

◆ isNormalized()

◆ normalize()

◆ normalized()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ Random()

◆ rotation_impl() [1/3]

◆ rotation_impl() [2/3]

◆ rotation_impl() [3/3]

◆ setIdentity()

◆ setRandom()

◆ toActionMatrix_impl() [1/2]

◆ toActionMatrix_impl() [2/2]

◆ toActionMatrixInverse_impl() [1/2]

◆ toActionMatrixInverse_impl() [2/2]

◆ toDualActionMatrix_impl() [1/2]

◆ toDualActionMatrix_impl() [2/2]

◆ toHomogeneousMatrix_impl()

◆ translation_impl() [1/3]

◆ translation_impl() [2/3]

◆ translation_impl() [3/3]

Member Data Documentation

◆ rot

◆ trans

◆ mult()