| Directory: | ./ |
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| File: | include/pinocchio/multibody/liegroup/cartesian-product.hpp |
| Date: | 2024-08-27 18:20:05 |
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| Lines: | 20 | 122 | 16.4% |
| Branches: | 14 | 194 | 7.2% |
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| 1 | // | ||
| 2 | // Copyright (c) 2016-2020 CNRS CNRS | ||
| 3 | // | ||
| 4 | |||
| 5 | #ifndef __pinocchio_multibody_liegroup_cartesian_product_operation_hpp__ | ||
| 6 | #define __pinocchio_multibody_liegroup_cartesian_product_operation_hpp__ | ||
| 7 | |||
| 8 | #include <pinocchio/multibody/liegroup/liegroup-base.hpp> | ||
| 9 | |||
| 10 | namespace pinocchio | ||
| 11 | { | ||
| 12 | template<int dim1, int dim2> | ||
| 13 | struct eval_set_dim | ||
| 14 | { | ||
| 15 | enum | ||
| 16 | { | ||
| 17 | value = dim1 + dim2 | ||
| 18 | }; | ||
| 19 | }; | ||
| 20 | |||
| 21 | template<int dim> | ||
| 22 | struct eval_set_dim<dim, Eigen::Dynamic> | ||
| 23 | { | ||
| 24 | enum | ||
| 25 | { | ||
| 26 | value = Eigen::Dynamic | ||
| 27 | }; | ||
| 28 | }; | ||
| 29 | |||
| 30 | template<int dim> | ||
| 31 | struct eval_set_dim<Eigen::Dynamic, dim> | ||
| 32 | { | ||
| 33 | enum | ||
| 34 | { | ||
| 35 | value = Eigen::Dynamic | ||
| 36 | }; | ||
| 37 | }; | ||
| 38 | |||
| 39 | template<typename LieGroup1, typename LieGroup2> | ||
| 40 | struct CartesianProductOperation; | ||
| 41 | |||
| 42 | template<typename LieGroup1, typename LieGroup2> | ||
| 43 | struct traits<CartesianProductOperation<LieGroup1, LieGroup2>> | ||
| 44 | { | ||
| 45 | typedef typename traits<LieGroup1>::Scalar Scalar; | ||
| 46 | enum | ||
| 47 | { | ||
| 48 | Options = traits<LieGroup1>::Options, | ||
| 49 | NQ = eval_set_dim < LieGroup1::NQ, | ||
| 50 | LieGroup2::NQ > ::value, | ||
| 51 | NV = eval_set_dim < LieGroup1::NV, | ||
| 52 | LieGroup2::NV > ::value | ||
| 53 | }; | ||
| 54 | }; | ||
| 55 | |||
| 56 | template<typename LieGroup1, typename LieGroup2> | ||
| 57 | struct CartesianProductOperation | ||
| 58 | : public LieGroupBase<CartesianProductOperation<LieGroup1, LieGroup2>> | ||
| 59 | { | ||
| 60 | PINOCCHIO_LIE_GROUP_TPL_PUBLIC_INTERFACE(CartesianProductOperation); | ||
| 61 | |||
| 62 | 4652 | CartesianProductOperation() | |
| 63 | 4652 | : lg1() | |
| 64 | 9304 | , lg2() | |
| 65 | { | ||
| 66 | } | ||
| 67 | // Get dimension of Lie Group vector representation | ||
| 68 | // | ||
| 69 | // For instance, for SO(3), the dimension of the vector representation is | ||
| 70 | // 4 (quaternion) while the dimension of the tangent space is 3. | ||
| 71 | ✗ | Index nq() const | |
| 72 | { | ||
| 73 | ✗ | return lg1.nq() + lg2.nq(); | |
| 74 | } | ||
| 75 | |||
| 76 | // Get dimension of Lie Group tangent space | ||
| 77 | ✗ | Index nv() const | |
| 78 | { | ||
| 79 | ✗ | return lg1.nv() + lg2.nv(); | |
| 80 | } | ||
| 81 | |||
| 82 | ✗ | ConfigVector_t neutral() const | |
| 83 | { | ||
| 84 | ✗ | ConfigVector_t n; | |
| 85 | ✗ | n.resize(nq()); | |
| 86 | ✗ | Qo1(n) = lg1.neutral(); | |
| 87 | ✗ | Qo2(n) = lg2.neutral(); | |
| 88 | ✗ | return n; | |
| 89 | } | ||
| 90 | |||
| 91 | ✗ | std::string name() const | |
| 92 | { | ||
| 93 | ✗ | std::ostringstream oss; | |
| 94 | ✗ | oss << lg1.name() << "*" << lg2.name(); | |
| 95 | ✗ | return oss.str(); | |
| 96 | } | ||
| 97 | |||
| 98 | template<class ConfigL_t, class ConfigR_t, class Tangent_t> | ||
| 99 | ✗ | void difference_impl( | |
| 100 | const Eigen::MatrixBase<ConfigL_t> & q0, | ||
| 101 | const Eigen::MatrixBase<ConfigR_t> & q1, | ||
| 102 | const Eigen::MatrixBase<Tangent_t> & d) const | ||
| 103 | { | ||
| 104 | ✗ | lg1.difference(Q1(q0), Q1(q1), Vo1(d)); | |
| 105 | ✗ | lg2.difference(Q2(q0), Q2(q1), Vo2(d)); | |
| 106 | } | ||
| 107 | |||
| 108 | template<ArgumentPosition arg, class ConfigL_t, class ConfigR_t, class JacobianOut_t> | ||
| 109 | ✗ | void dDifference_impl( | |
| 110 | const Eigen::MatrixBase<ConfigL_t> & q0, | ||
| 111 | const Eigen::MatrixBase<ConfigR_t> & q1, | ||
| 112 | const Eigen::MatrixBase<JacobianOut_t> & J) const | ||
| 113 | { | ||
| 114 | ✗ | J12(J).setZero(); | |
| 115 | ✗ | J21(J).setZero(); | |
| 116 | |||
| 117 | ✗ | lg1.template dDifference<arg>(Q1(q0), Q1(q1), J11(J)); | |
| 118 | ✗ | lg2.template dDifference<arg>(Q2(q0), Q2(q1), J22(J)); | |
| 119 | } | ||
| 120 | |||
| 121 | template<class ConfigIn_t, class Velocity_t, class ConfigOut_t> | ||
| 122 | ✗ | void integrate_impl( | |
| 123 | const Eigen::MatrixBase<ConfigIn_t> & q, | ||
| 124 | const Eigen::MatrixBase<Velocity_t> & v, | ||
| 125 | const Eigen::MatrixBase<ConfigOut_t> & qout) const | ||
| 126 | { | ||
| 127 | ✗ | lg1.integrate(Q1(q), V1(v), Qo1(qout)); | |
| 128 | ✗ | lg2.integrate(Q2(q), V2(v), Qo2(qout)); | |
| 129 | } | ||
| 130 | |||
| 131 | template<class Config_t, class Jacobian_t> | ||
| 132 | ✗ | void integrateCoeffWiseJacobian_impl( | |
| 133 | const Eigen::MatrixBase<Config_t> & q, const Eigen::MatrixBase<Jacobian_t> & J) const | ||
| 134 | { | ||
| 135 | ✗ | assert(J.rows() == nq() && J.cols() == nv() && "J is not of the right dimension"); | |
| 136 | ✗ | Jacobian_t & J_ = PINOCCHIO_EIGEN_CONST_CAST(Jacobian_t, J); | |
| 137 | ✗ | J_.topRightCorner(lg1.nq(), lg2.nv()).setZero(); | |
| 138 | ✗ | J_.bottomLeftCorner(lg2.nq(), lg1.nv()).setZero(); | |
| 139 | |||
| 140 | ✗ | lg1.integrateCoeffWiseJacobian(Q1(q), J_.topLeftCorner(lg1.nq(), lg1.nv())); | |
| 141 | ✗ | lg2.integrateCoeffWiseJacobian(Q2(q), J_.bottomRightCorner(lg2.nq(), lg2.nv())); | |
| 142 | } | ||
| 143 | |||
| 144 | template<class Config_t, class Tangent_t, class JacobianOut_t> | ||
| 145 | ✗ | void dIntegrate_dq_impl( | |
| 146 | const Eigen::MatrixBase<Config_t> & q, | ||
| 147 | const Eigen::MatrixBase<Tangent_t> & v, | ||
| 148 | const Eigen::MatrixBase<JacobianOut_t> & J, | ||
| 149 | const AssignmentOperatorType op = SETTO) const | ||
| 150 | { | ||
| 151 | ✗ | switch (op) | |
| 152 | { | ||
| 153 | ✗ | case SETTO: | |
| 154 | ✗ | J12(J).setZero(); | |
| 155 | ✗ | J21(J).setZero(); | |
| 156 | // fallthrough | ||
| 157 | ✗ | case ADDTO: | |
| 158 | case RMTO: | ||
| 159 | ✗ | lg1.dIntegrate_dq(Q1(q), V1(v), J11(J), op); | |
| 160 | ✗ | lg2.dIntegrate_dq(Q2(q), V2(v), J22(J), op); | |
| 161 | ✗ | break; | |
| 162 | ✗ | default: | |
| 163 | ✗ | assert(false && "Wrong Op requesed value"); | |
| 164 | break; | ||
| 165 | } | ||
| 166 | } | ||
| 167 | |||
| 168 | template<class Config_t, class Tangent_t, class JacobianOut_t> | ||
| 169 | ✗ | void dIntegrate_dv_impl( | |
| 170 | const Eigen::MatrixBase<Config_t> & q, | ||
| 171 | const Eigen::MatrixBase<Tangent_t> & v, | ||
| 172 | const Eigen::MatrixBase<JacobianOut_t> & J, | ||
| 173 | const AssignmentOperatorType op = SETTO) const | ||
| 174 | { | ||
| 175 | ✗ | switch (op) | |
| 176 | { | ||
| 177 | ✗ | case SETTO: | |
| 178 | ✗ | J12(J).setZero(); | |
| 179 | ✗ | J21(J).setZero(); | |
| 180 | // fallthrough | ||
| 181 | ✗ | case ADDTO: | |
| 182 | case RMTO: | ||
| 183 | ✗ | lg1.dIntegrate_dv(Q1(q), V1(v), J11(J), op); | |
| 184 | ✗ | lg2.dIntegrate_dv(Q2(q), V2(v), J22(J), op); | |
| 185 | ✗ | break; | |
| 186 | ✗ | default: | |
| 187 | ✗ | assert(false && "Wrong Op requesed value"); | |
| 188 | break; | ||
| 189 | } | ||
| 190 | } | ||
| 191 | |||
| 192 | template<class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t> | ||
| 193 | ✗ | void dIntegrateTransport_dq_impl( | |
| 194 | const Eigen::MatrixBase<Config_t> & q, | ||
| 195 | const Eigen::MatrixBase<Tangent_t> & v, | ||
| 196 | const Eigen::MatrixBase<JacobianIn_t> & J_in, | ||
| 197 | const Eigen::MatrixBase<JacobianOut_t> & J_out) const | ||
| 198 | { | ||
| 199 | ✗ | JacobianOut_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t, J_out); | |
| 200 | ✗ | JacobianOut_t & Jin = PINOCCHIO_EIGEN_CONST_CAST(JacobianIn_t, J_in); | |
| 201 | ✗ | lg1.dIntegrateTransport_dq( | |
| 202 | ✗ | Q1(q), V1(v), Jin.template topRows<LieGroup1::NV>(), | |
| 203 | ✗ | Jout.template topRows<LieGroup1::NV>()); | |
| 204 | ✗ | lg2.dIntegrateTransport_dq( | |
| 205 | ✗ | Q2(q), V2(v), Jin.template bottomRows<LieGroup2::NV>(), | |
| 206 | ✗ | Jout.template bottomRows<LieGroup2::NV>()); | |
| 207 | } | ||
| 208 | |||
| 209 | template<class Config_t, class Tangent_t, class JacobianIn_t, class JacobianOut_t> | ||
| 210 | ✗ | void dIntegrateTransport_dv_impl( | |
| 211 | const Eigen::MatrixBase<Config_t> & q, | ||
| 212 | const Eigen::MatrixBase<Tangent_t> & v, | ||
| 213 | const Eigen::MatrixBase<JacobianIn_t> & J_in, | ||
| 214 | const Eigen::MatrixBase<JacobianOut_t> & J_out) const | ||
| 215 | { | ||
| 216 | ✗ | JacobianOut_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t, J_out); | |
| 217 | ✗ | JacobianOut_t & Jin = PINOCCHIO_EIGEN_CONST_CAST(JacobianIn_t, J_in); | |
| 218 | ✗ | lg1.dIntegrateTransport_dv( | |
| 219 | ✗ | Q1(q), V1(v), Jin.template topRows<LieGroup1::NV>(), | |
| 220 | ✗ | Jout.template topRows<LieGroup1::NV>()); | |
| 221 | ✗ | lg2.dIntegrateTransport_dv( | |
| 222 | ✗ | Q2(q), V2(v), Jin.template bottomRows<LieGroup2::NV>(), | |
| 223 | ✗ | Jout.template bottomRows<LieGroup2::NV>()); | |
| 224 | } | ||
| 225 | |||
| 226 | template<class Config_t, class Tangent_t, class Jacobian_t> | ||
| 227 | void dIntegrateTransport_dq_impl( | ||
| 228 | const Eigen::MatrixBase<Config_t> & q, | ||
| 229 | const Eigen::MatrixBase<Tangent_t> & v, | ||
| 230 | const Eigen::MatrixBase<Jacobian_t> & Jin) const | ||
| 231 | { | ||
| 232 | Jacobian_t & J = PINOCCHIO_EIGEN_CONST_CAST(Jacobian_t, Jin); | ||
| 233 | lg1.dIntegrateTransport_dq(Q1(q), V1(v), J.template topRows<LieGroup1::NV>()); | ||
| 234 | lg2.dIntegrateTransport_dq(Q2(q), V2(v), J.template bottomRows<LieGroup2::NV>()); | ||
| 235 | } | ||
| 236 | |||
| 237 | template<class Config_t, class Tangent_t, class Jacobian_t> | ||
| 238 | void dIntegrateTransport_dv_impl( | ||
| 239 | const Eigen::MatrixBase<Config_t> & q, | ||
| 240 | const Eigen::MatrixBase<Tangent_t> & v, | ||
| 241 | const Eigen::MatrixBase<Jacobian_t> & Jin) const | ||
| 242 | { | ||
| 243 | Jacobian_t & J = PINOCCHIO_EIGEN_CONST_CAST(Jacobian_t, Jin); | ||
| 244 | lg1.dIntegrateTransport_dv(Q1(q), V1(v), J.template topRows<LieGroup1::NV>()); | ||
| 245 | lg2.dIntegrateTransport_dv(Q2(q), V2(v), J.template bottomRows<LieGroup2::NV>()); | ||
| 246 | } | ||
| 247 | |||
| 248 | template<class ConfigL_t, class ConfigR_t> | ||
| 249 | ✗ | Scalar squaredDistance_impl( | |
| 250 | const Eigen::MatrixBase<ConfigL_t> & q0, const Eigen::MatrixBase<ConfigR_t> & q1) const | ||
| 251 | { | ||
| 252 | ✗ | return lg1.squaredDistance(Q1(q0), Q1(q1)) + lg2.squaredDistance(Q2(q0), Q2(q1)); | |
| 253 | } | ||
| 254 | |||
| 255 | template<class Config_t> | ||
| 256 | ✗ | void normalize_impl(const Eigen::MatrixBase<Config_t> & qout) const | |
| 257 | { | ||
| 258 | ✗ | lg1.normalize(Qo1(qout)); | |
| 259 | ✗ | lg2.normalize(Qo2(qout)); | |
| 260 | } | ||
| 261 | |||
| 262 | template<class Config_t> | ||
| 263 | bool isNormalized_impl(const Eigen::MatrixBase<Config_t> & qin, const Scalar & prec) const | ||
| 264 | { | ||
| 265 | return lg1.isNormalized(Qo1(qin), prec) && lg2.isNormalized(Qo2(qin), prec); | ||
| 266 | } | ||
| 267 | |||
| 268 | template<class Config_t> | ||
| 269 | ✗ | void random_impl(const Eigen::MatrixBase<Config_t> & qout) const | |
| 270 | { | ||
| 271 | ✗ | lg1.random(Qo1(qout)); | |
| 272 | ✗ | lg2.random(Qo2(qout)); | |
| 273 | } | ||
| 274 | |||
| 275 | template<class ConfigL_t, class ConfigR_t, class ConfigOut_t> | ||
| 276 | 4686 | void randomConfiguration_impl( | |
| 277 | const Eigen::MatrixBase<ConfigL_t> & lower, | ||
| 278 | const Eigen::MatrixBase<ConfigR_t> & upper, | ||
| 279 | const Eigen::MatrixBase<ConfigOut_t> & qout) const | ||
| 280 | { | ||
| 281 |
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4686 | lg1.randomConfiguration(Q1(lower), Q1(upper), Qo1(qout)); |
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4686 | lg2.randomConfiguration(Q2(lower), Q2(upper), Qo2(qout)); |
| 283 | 4686 | } | |
| 284 | |||
| 285 | template<class ConfigL_t, class ConfigR_t> | ||
| 286 | 12 | bool isSameConfiguration_impl( | |
| 287 | const Eigen::MatrixBase<ConfigL_t> & q0, | ||
| 288 | const Eigen::MatrixBase<ConfigR_t> & q1, | ||
| 289 | const Scalar & prec) const | ||
| 290 | { | ||
| 291 |
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12 | return lg1.isSameConfiguration(Q1(q0), Q1(q1), prec) |
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12 | && lg2.isSameConfiguration(Q2(q0), Q2(q1), prec); |
| 293 | } | ||
| 294 | |||
| 295 | bool isEqual_impl(const CartesianProductOperation & other) const | ||
| 296 | { | ||
| 297 | return lg1 == other.lg1 && lg2 == other.lg2; | ||
| 298 | } | ||
| 299 | |||
| 300 | LieGroup1 lg1; | ||
| 301 | LieGroup2 lg2; | ||
| 302 | |||
| 303 | private: | ||
| 304 | // VectorSpaceOperationTpl<-1> within CartesianProductOperation will not work | ||
| 305 | // if Eigen version is lower than 3.2.1 | ||
| 306 | #if EIGEN_VERSION_AT_LEAST(3, 2, 1) | ||
| 307 | #define REMOVE_IF_EIGEN_TOO_LOW(x) x | ||
| 308 | #else | ||
| 309 | #define REMOVE_IF_EIGEN_TOO_LOW(x) | ||
| 310 | #endif | ||
| 311 | |||
| 312 | template<typename Config> | ||
| 313 | typename Config ::template ConstFixedSegmentReturnType<LieGroup1::NQ>::Type | ||
| 314 | 9396 | Q1(const Eigen::MatrixBase<Config> & q) const | |
| 315 | { | ||
| 316 | 9396 | return q.derived().template head<LieGroup1::NQ>(REMOVE_IF_EIGEN_TOO_LOW(lg1.nq())); | |
| 317 | } | ||
| 318 | template<typename Config> | ||
| 319 | typename Config ::template ConstFixedSegmentReturnType<LieGroup2::NQ>::Type | ||
| 320 | 9396 | Q2(const Eigen::MatrixBase<Config> & q) const | |
| 321 | { | ||
| 322 | 9396 | return q.derived().template tail<LieGroup2::NQ>(REMOVE_IF_EIGEN_TOO_LOW(lg2.nq())); | |
| 323 | } | ||
| 324 | template<typename Tangent> | ||
| 325 | typename Tangent::template ConstFixedSegmentReturnType<LieGroup1::NV>::Type | ||
| 326 | ✗ | V1(const Eigen::MatrixBase<Tangent> & v) const | |
| 327 | { | ||
| 328 | ✗ | return v.derived().template head<LieGroup1::NV>(REMOVE_IF_EIGEN_TOO_LOW(lg1.nv())); | |
| 329 | } | ||
| 330 | template<typename Tangent> | ||
| 331 | typename Tangent::template ConstFixedSegmentReturnType<LieGroup2::NV>::Type | ||
| 332 | ✗ | V2(const Eigen::MatrixBase<Tangent> & v) const | |
| 333 | { | ||
| 334 | ✗ | return v.derived().template tail<LieGroup2::NV>(REMOVE_IF_EIGEN_TOO_LOW(lg2.nv())); | |
| 335 | } | ||
| 336 | |||
| 337 | template<typename Config> | ||
| 338 | typename Config ::template FixedSegmentReturnType<LieGroup1::NQ>::Type | ||
| 339 | 4670 | Qo1(const Eigen::MatrixBase<Config> & q) const | |
| 340 | { | ||
| 341 | 9340 | return PINOCCHIO_EIGEN_CONST_CAST(Config, q).template head<LieGroup1::NQ>( | |
| 342 | 9340 | REMOVE_IF_EIGEN_TOO_LOW(lg1.nq())); | |
| 343 | } | ||
| 344 | template<typename Config> | ||
| 345 | typename Config ::template FixedSegmentReturnType<LieGroup2::NQ>::Type | ||
| 346 | 2335 | Qo2(const Eigen::MatrixBase<Config> & q) const | |
| 347 | { | ||
| 348 | 4670 | return PINOCCHIO_EIGEN_CONST_CAST(Config, q).template tail<LieGroup2::NQ>( | |
| 349 | 4670 | REMOVE_IF_EIGEN_TOO_LOW(lg2.nq())); | |
| 350 | } | ||
| 351 | template<typename Tangent> | ||
| 352 | typename Tangent::template FixedSegmentReturnType<LieGroup1::NV>::Type | ||
| 353 | ✗ | Vo1(const Eigen::MatrixBase<Tangent> & v) const | |
| 354 | { | ||
| 355 | ✗ | return PINOCCHIO_EIGEN_CONST_CAST(Tangent, v) | |
| 356 | ✗ | .template head<LieGroup1::NV>(REMOVE_IF_EIGEN_TOO_LOW(lg1.nv())); | |
| 357 | } | ||
| 358 | template<typename Tangent> | ||
| 359 | typename Tangent::template FixedSegmentReturnType<LieGroup2::NV>::Type | ||
| 360 | ✗ | Vo2(const Eigen::MatrixBase<Tangent> & v) const | |
| 361 | { | ||
| 362 | ✗ | return PINOCCHIO_EIGEN_CONST_CAST(Tangent, v) | |
| 363 | ✗ | .template tail<LieGroup2::NV>(REMOVE_IF_EIGEN_TOO_LOW(lg2.nv())); | |
| 364 | } | ||
| 365 | |||
| 366 | template<typename Jac> | ||
| 367 | ✗ | Eigen::Block<Jac, LieGroup1::NV, LieGroup1::NV> J11(const Eigen::MatrixBase<Jac> & J) const | |
| 368 | { | ||
| 369 | ✗ | return PINOCCHIO_EIGEN_CONST_CAST(Jac, J) | |
| 370 | ✗ | .template topLeftCorner<LieGroup1::NV, LieGroup1::NV>(lg1.nv(), lg1.nv()); | |
| 371 | } | ||
| 372 | template<typename Jac> | ||
| 373 | ✗ | Eigen::Block<Jac, LieGroup1::NV, LieGroup2::NV> J12(const Eigen::MatrixBase<Jac> & J) const | |
| 374 | { | ||
| 375 | ✗ | return PINOCCHIO_EIGEN_CONST_CAST(Jac, J) | |
| 376 | ✗ | .template topRightCorner<LieGroup1::NV, LieGroup2::NV>(lg1.nv(), lg2.nv()); | |
| 377 | } | ||
| 378 | template<typename Jac> | ||
| 379 | ✗ | Eigen::Block<Jac, LieGroup2::NV, LieGroup1::NV> J21(const Eigen::MatrixBase<Jac> & J) const | |
| 380 | { | ||
| 381 | ✗ | return PINOCCHIO_EIGEN_CONST_CAST(Jac, J) | |
| 382 | ✗ | .template bottomLeftCorner<LieGroup2::NV, LieGroup1::NV>(lg2.nv(), lg1.nv()); | |
| 383 | } | ||
| 384 | template<typename Jac> | ||
| 385 | ✗ | Eigen::Block<Jac, LieGroup2::NV, LieGroup2::NV> J22(const Eigen::MatrixBase<Jac> & J) const | |
| 386 | { | ||
| 387 | ✗ | return PINOCCHIO_EIGEN_CONST_CAST(Jac, J) | |
| 388 | ✗ | .template bottomRightCorner<LieGroup2::NV, LieGroup2::NV>(lg2.nv(), lg2.nv()); | |
| 389 | } | ||
| 390 | #undef REMOVE_IF_EIGEN_TOO_LOW | ||
| 391 | |||
| 392 | }; // struct CartesianProductOperation | ||
| 393 | |||
| 394 | } // namespace pinocchio | ||
| 395 | |||
| 396 | #endif // ifndef __pinocchio_multibody_liegroup_cartesian_product_operation_hpp__ | ||
| 397 |