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// |
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// Copyright (c) 2018 CNRS |
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// |
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#ifndef __pinocchio_lie_group_generic_hpp__ |
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#define __pinocchio_lie_group_generic_hpp__ |
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#include "pinocchio/multibody/liegroup/liegroup-base.hpp" |
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#include "pinocchio/multibody/liegroup/liegroup-variant-visitors.hpp" |
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namespace pinocchio |
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{ |
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template<typename LieGroupCollection> |
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struct LieGroupGenericTpl; |
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template<typename LieGroupCollection> |
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struct traits<LieGroupGenericTpl<LieGroupCollection>> |
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{ |
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typedef typename LieGroupCollection::Scalar Scalar; |
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enum |
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{ |
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Options = LieGroupCollection::Options, |
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NQ = Eigen::Dynamic, |
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NV = Eigen::Dynamic |
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}; |
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}; |
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template<typename LieGroupCollection> |
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struct LieGroupGenericTpl |
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: LieGroupBase<LieGroupGenericTpl<LieGroupCollection>> |
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, LieGroupCollection::LieGroupVariant |
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{ |
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typedef typename LieGroupCollection::LieGroupVariant Base; |
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typedef typename LieGroupCollection::LieGroupVariant LieGroupVariant; |
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typedef typename LieGroupCollection::Scalar Scalar; |
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enum |
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{ |
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Options = LieGroupCollection::Options |
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}; |
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template<typename LieGroupDerived> |
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LieGroupGenericTpl(const LieGroupBase<LieGroupDerived> & lg_base) |
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: Base(lg_base.derived()) |
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{ |
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} |
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template<typename LieGroup> |
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LieGroupGenericTpl(const LieGroupVariant & lg_variant) |
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: Base(lg_variant) |
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{ |
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} |
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LieGroupGenericTpl(const LieGroupGenericTpl & lg_generic) = default; |
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LieGroupGenericTpl & operator=(const LieGroupGenericTpl & other) = default; |
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const LieGroupVariant & toVariant() const |
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{ |
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return static_cast<const LieGroupVariant &>(*this); |
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} |
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LieGroupVariant & toVariant() |
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{ |
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return static_cast<LieGroupVariant &>(*this); |
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} |
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bool isEqual_impl(const LieGroupGenericTpl & other) const |
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{ |
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return boost::apply_visitor( |
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visitor::LieGroupEqual<Scalar, Options>(), toVariant(), other.toVariant()); |
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} |
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int nq() const |
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{ |
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return ::pinocchio::nq(*this); |
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} |
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int nv() const |
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{ |
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return ::pinocchio::nv(*this); |
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} |
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bool operator==(const LieGroupGenericTpl & other) const |
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{ |
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return isEqual_impl(other); |
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} |
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bool operator!=(const LieGroupGenericTpl & other) const |
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{ |
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return this->isDifferent_impl(other); |
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} |
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std::string name() const |
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{ |
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return LieGroupNameVisitor::run(*this); |
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} |
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}; |
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} // namespace pinocchio |
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#endif // ifndef __pinocchio_lie_group_generic_hpp__ |
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