6 #ifndef __pinocchio_motion_base_hpp__
7 #define __pinocchio_motion_base_hpp__
12 template<
class Derived>
16 MOTION_TYPEDEF_TPL(Derived);
18 Derived & derived() {
return *
static_cast<Derived*
>(
this); }
19 const Derived & derived()
const {
return *
static_cast<const Derived*
>(
this); }
21 ConstAngularType angular()
const {
return derived().angular_impl(); }
22 ConstLinearType linear()
const {
return derived().linear_impl(); }
23 AngularType angular() {
return derived().angular_impl(); }
24 LinearType linear() {
return derived().linear_impl(); }
26 template<
typename V3Like>
27 void angular(
const Eigen::MatrixBase<V3Like> & w)
28 { derived().angular_impl(w.derived()); }
30 template<
typename V3Like>
31 void linear(
const Eigen::MatrixBase<V3Like> & v)
32 { derived().linear_impl(v.derived()); }
34 operator PlainReturnType()
const {
return derived().plain(); }
35 PlainReturnType plain()
const {
return derived().plain(); }
37 ToVectorConstReturnType toVector()
const {
return derived().toVector_impl(); }
38 ToVectorReturnType toVector() {
return derived().toVector_impl(); }
39 operator Vector6()
const {
return toVector(); }
41 ActionMatrixType toActionMatrix()
const {
return derived().toActionMatrix_impl(); }
42 ActionMatrixType toDualActionMatrix()
const {
return derived().toDualActionMatrix_impl(); }
43 operator Matrix6()
const {
return toActionMatrix(); }
60 void setZero() { derived().setZero(); }
63 bool operator==(
const MotionBase<M2> & other)
const
64 {
return derived().isEqual_impl(other.derived()); }
67 bool operator!=(
const MotionBase<M2> & other)
const
68 {
return !(derived() == other.derived()); }
70 Derived operator-()
const {
return derived().__opposite__(); }
71 Derived operator+(
const MotionBase<Derived> & v)
const {
return derived().__plus__(v.derived()); }
72 Derived operator-(
const MotionBase<Derived> & v)
const {
return derived().__minus__(v.derived()); }
73 Derived & operator+=(
const MotionBase<Derived> & v) {
return derived().__pequ__(v.derived()); }
74 Derived & operator-=(
const MotionBase<Derived> & v) {
return derived().__mequ__(v.derived()); }
76 template<
typename OtherScalar>
77 typename internal::RHSScalarMultiplication<Derived,OtherScalar>::ReturnType
78 operator*(
const OtherScalar & alpha)
const
79 {
return derived().__mult__(alpha); }
81 template<
typename OtherScalar>
82 Derived operator/(
const OtherScalar & alpha)
const
83 {
return derived().__div__(alpha); }
85 template<
typename OtherSpatialType>
86 typename MotionAlgebraAction<OtherSpatialType,Derived>::ReturnType
87 cross(
const OtherSpatialType & d)
const
89 return derived().cross_impl(d);
92 bool isApprox(
const Derived & other,
const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision())
const
93 {
return derived().isApprox_impl(other, prec);}
95 bool isZero(
const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision())
const
96 {
return derived().isZero_impl(prec);}
98 template<
typename S2,
int O2>
99 typename SE3GroupAction<Derived>::ReturnType
100 se3Action(
const SE3Tpl<S2,O2> & m)
const
101 {
return derived().se3Action_impl(m); }
103 template<
typename S2,
int O2>
104 typename SE3GroupAction<Derived>::ReturnType
105 se3ActionInverse(
const SE3Tpl<S2,O2> & m)
const
106 {
return derived().se3ActionInverse_impl(m); }
108 template<
typename ForceDerived>
109 Scalar dot(
const ForceDense<ForceDerived> & f)
const {
return derived().dot(f.derived()); }
111 void disp(std::ostream & os)
const { derived().disp_impl(os); }
112 friend std::ostream & operator << (std::ostream & os,
const MotionBase<Derived> & v)
120 template<
typename MotionDerived>
121 typename internal::RHSScalarMultiplication<MotionDerived,typename MotionDerived::Scalar>::ReturnType
122 operator*(
const typename MotionDerived::Scalar & alpha,
123 const MotionBase<MotionDerived> &
motion)
130 #endif // ifndef __pinocchio_motion_base_hpp__