pinocchio  3.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
 
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Public Types | Static Public Member Functions | List of all members
LieGroupWrapperTpl< LieGroupType > Struct Template Reference

Public Types

typedef Eigen::Matrix< context::Scalar, Eigen::Dynamic, 1 > ConfigVector_t
 
typedef Eigen::Matrix< context::Scalar, Eigen::Dynamic, Eigen::Dynamic > JacobianMatrix_t
 
typedef Eigen::Matrix< context::Scalar, Eigen::Dynamic, 1 > TangentVector_t
 

Static Public Member Functions

static JacobianMatrix_t dDifference1 (const LieGroupType &lg, const ConfigVector_t &q0, const ConfigVector_t &q1, const ArgumentPosition arg)
 
static JacobianMatrix_t dDifference2 (const LieGroupType &lg, const ConfigVector_t &q0, const ConfigVector_t &q1, const ArgumentPosition arg, const JacobianMatrix_t &Jin, int self)
 
static JacobianMatrix_t dDifference3 (const LieGroupType &lg, const ConfigVector_t &q0, const ConfigVector_t &q1, const ArgumentPosition arg, int self, const JacobianMatrix_t &Jin)
 
static TangentVector_t difference (const LieGroupType &lg, const ConfigVector_t &q0, const ConfigVector_t &q1)
 
static JacobianMatrix_t dIntegrate (const LieGroupType &lg, const ConfigVector_t &q, const TangentVector_t &v, const ArgumentPosition arg)
 
static JacobianMatrix_t dIntegrate_dq1 (const LieGroupType &lg, const ConfigVector_t &q, const TangentVector_t &v)
 
static JacobianMatrix_t dIntegrate_dq2 (const LieGroupType &lg, const ConfigVector_t &q, const TangentVector_t &v, const JacobianMatrix_t &Jin, int self)
 
static JacobianMatrix_t dIntegrate_dq3 (const LieGroupType &lg, const ConfigVector_t &q, const TangentVector_t &v, int self, const JacobianMatrix_t &Jin)
 
static JacobianMatrix_t dIntegrate_dv1 (const LieGroupType &lg, const ConfigVector_t &q, const TangentVector_t &v)
 
static JacobianMatrix_t dIntegrate_dv2 (const LieGroupType &lg, const ConfigVector_t &q, const TangentVector_t &v, const JacobianMatrix_t &Jin, int self)
 
static JacobianMatrix_t dIntegrate_dv3 (const LieGroupType &lg, const ConfigVector_t &q, const TangentVector_t &v, int self, const JacobianMatrix_t &Jin)
 
static JacobianMatrix_t dIntegrateTransport_proxy (const LieGroupType &lg, const ConfigVector_t &q, const TangentVector_t &v, const JacobianMatrix_t &J, const ArgumentPosition arg)
 
static ConfigVector_t integrate (const LieGroupType &lg, const ConfigVector_t &q, const TangentVector_t &v)
 
static ConfigVector_t interpolate (const LieGroupType &lg, const ConfigVector_t &q0, const ConfigVector_t &q1, const context::Scalar &u)
 

Detailed Description

template<class LieGroupType>
struct pinocchio::python::LieGroupWrapperTpl< LieGroupType >

Definition at line 22 of file liegroups.hpp.

Member Typedef Documentation

◆ ConfigVector_t

template<class LieGroupType >
typedef Eigen::Matrix<context::Scalar, Eigen::Dynamic, 1> ConfigVector_t

Definition at line 24 of file liegroups.hpp.

◆ JacobianMatrix_t

template<class LieGroupType >
typedef Eigen::Matrix<context::Scalar, Eigen::Dynamic, Eigen::Dynamic> JacobianMatrix_t

Definition at line 26 of file liegroups.hpp.

◆ TangentVector_t

template<class LieGroupType >
typedef Eigen::Matrix<context::Scalar, Eigen::Dynamic, 1> TangentVector_t

Definition at line 25 of file liegroups.hpp.

Member Function Documentation

◆ dDifference1()

template<class LieGroupType >
static JacobianMatrix_t dDifference1 ( const LieGroupType &  lg,
const ConfigVector_t &  q0,
const ConfigVector_t &  q1,
const ArgumentPosition  arg 
)
inlinestatic

Definition at line 49 of file liegroups.hpp.

◆ dDifference2()

template<class LieGroupType >
static JacobianMatrix_t dDifference2 ( const LieGroupType &  lg,
const ConfigVector_t &  q0,
const ConfigVector_t &  q1,
const ArgumentPosition  arg,
const JacobianMatrix_t &  Jin,
int  self 
)
inlinestatic

Definition at line 60 of file liegroups.hpp.

◆ dDifference3()

template<class LieGroupType >
static JacobianMatrix_t dDifference3 ( const LieGroupType &  lg,
const ConfigVector_t &  q0,
const ConfigVector_t &  q1,
const ArgumentPosition  arg,
int  self,
const JacobianMatrix_t &  Jin 
)
inlinestatic

Definition at line 83 of file liegroups.hpp.

◆ difference()

template<class LieGroupType >
static TangentVector_t difference ( const LieGroupType &  lg,
const ConfigVector_t &  q0,
const ConfigVector_t &  q1 
)
inlinestatic

Definition at line 44 of file liegroups.hpp.

◆ dIntegrate()

template<class LieGroupType >
static JacobianMatrix_t dIntegrate ( const LieGroupType &  lg,
const ConfigVector_t &  q,
const TangentVector_t &  v,
const ArgumentPosition  arg 
)
inlinestatic

Definition at line 106 of file liegroups.hpp.

◆ dIntegrate_dq1()

template<class LieGroupType >
static JacobianMatrix_t dIntegrate_dq1 ( const LieGroupType &  lg,
const ConfigVector_t &  q,
const TangentVector_t &  v 
)
inlinestatic

Definition at line 118 of file liegroups.hpp.

◆ dIntegrate_dq2()

template<class LieGroupType >
static JacobianMatrix_t dIntegrate_dq2 ( const LieGroupType &  lg,
const ConfigVector_t &  q,
const TangentVector_t &  v,
const JacobianMatrix_t &  Jin,
int  self 
)
inlinestatic

Definition at line 125 of file liegroups.hpp.

◆ dIntegrate_dq3()

template<class LieGroupType >
static JacobianMatrix_t dIntegrate_dq3 ( const LieGroupType &  lg,
const ConfigVector_t &  q,
const TangentVector_t &  v,
int  self,
const JacobianMatrix_t &  Jin 
)
inlinestatic

Definition at line 137 of file liegroups.hpp.

◆ dIntegrate_dv1()

template<class LieGroupType >
static JacobianMatrix_t dIntegrate_dv1 ( const LieGroupType &  lg,
const ConfigVector_t &  q,
const TangentVector_t &  v 
)
inlinestatic

Definition at line 150 of file liegroups.hpp.

◆ dIntegrate_dv2()

template<class LieGroupType >
static JacobianMatrix_t dIntegrate_dv2 ( const LieGroupType &  lg,
const ConfigVector_t &  q,
const TangentVector_t &  v,
const JacobianMatrix_t &  Jin,
int  self 
)
inlinestatic

Definition at line 157 of file liegroups.hpp.

◆ dIntegrate_dv3()

template<class LieGroupType >
static JacobianMatrix_t dIntegrate_dv3 ( const LieGroupType &  lg,
const ConfigVector_t &  q,
const TangentVector_t &  v,
int  self,
const JacobianMatrix_t &  Jin 
)
inlinestatic

Definition at line 169 of file liegroups.hpp.

◆ dIntegrateTransport_proxy()

template<class LieGroupType >
static JacobianMatrix_t dIntegrateTransport_proxy ( const LieGroupType &  lg,
const ConfigVector_t &  q,
const TangentVector_t &  v,
const JacobianMatrix_t &  J,
const ArgumentPosition  arg 
)
inlinestatic

Definition at line 181 of file liegroups.hpp.

◆ integrate()

template<class LieGroupType >
static ConfigVector_t integrate ( const LieGroupType &  lg,
const ConfigVector_t &  q,
const TangentVector_t &  v 
)
inlinestatic

Definition at line 29 of file liegroups.hpp.

◆ interpolate()

template<class LieGroupType >
static ConfigVector_t interpolate ( const LieGroupType &  lg,
const ConfigVector_t &  q0,
const ConfigVector_t &  q1,
const context::Scalar &  u 
)
inlinestatic

Definition at line 34 of file liegroups.hpp.

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