CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl > Struct Template Reference

Dynamic Cartesian product composed of elementary Lie groups defined in LieGroupVariant. More...

#include <pinocchio/multibody/liegroup/cartesian-product-variant.hpp>

Inheritance diagram for CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >:

Collaboration diagram for CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >:

Public Types
typedef LieGroupCollectionTpl< Scalar, Options >	LieGroupCollection
typedef LieGroupGenericTpl< LieGroupCollection >	LieGroupGeneric
typedef LieGroupCollection::LieGroupVariant	LieGroupVariant
Public Types inherited from LieGroupBase< CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl > >
enum
typedef Eigen::Matrix< Scalar, NQ, 1, Options >	ConfigVector_t
typedef int	Index
typedef Eigen::Matrix< Scalar, NV, NV, Options >	JacobianMatrix_t
typedef CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >	LieGroupDerived
typedef traits< LieGroupDerived >::Scalar	Scalar
typedef Eigen::Matrix< Scalar, NV, 1, Options >	TangentVector_t

Public Member Functions
	CartesianProductOperationVariantTpl ()
	Default constructor.
	CartesianProductOperationVariantTpl (const LieGroupGeneric &lg)
	Constructor with one single Lie group. More...
	CartesianProductOperationVariantTpl (const LieGroupGeneric &lg1, const LieGroupGeneric &lg2)
	Constructor with two Lie groups. More...
template<typename LieGroupDerived >
void	append (const LieGroupBase< LieGroupDerived > &lg)
	Append a Lie group to the Cartesian product. More...
void	append (const LieGroupGeneric &lg)
	Append a Lie group to the Cartesian product. More...
template<ArgumentPosition arg, class ConfigL_t , class ConfigR_t , class JacobianOut_t >
void	dDifference_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< JacobianOut_t > &J) const
template<ArgumentPosition arg, class ConfigL_t , class ConfigR_t , class JacobianIn_t , class JacobianOut_t >
void	dDifference_product_impl (const ConfigL_t &q0, const ConfigR_t &q1, const JacobianIn_t &Jin, JacobianOut_t &Jout, bool dDifferenceOnTheLeft, const AssignmentOperatorType op) const
template<class ConfigL_t , class ConfigR_t , class Tangent_t >
void	difference_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< Tangent_t > &d) const
template<class Config_t , class Tangent_t , class JacobianOut_t >
void	dIntegrate_dq_impl (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const AssignmentOperatorType op=SETTO) const
template<class Config_t , class Tangent_t , class JacobianOut_t >
void	dIntegrate_dv_impl (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const AssignmentOperatorType op=SETTO) const
template<class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >
void	dIntegrate_product_impl (const Config_t &q, const Tangent_t &v, const JacobianIn_t &Jin, JacobianOut_t &Jout, bool dIntegrateOnTheLeft, const ArgumentPosition arg, const AssignmentOperatorType op) const
template<class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >
void	dIntegrateTransport_dq_impl (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &J_in, const Eigen::MatrixBase< JacobianOut_t > &J_out) const
template<class Config_t , class Tangent_t , class JacobianOut_t >
void	dIntegrateTransport_dq_impl (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J) const
template<class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >
void	dIntegrateTransport_dv_impl (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &J_in, const Eigen::MatrixBase< JacobianOut_t > &J_out) const
template<class Config_t , class Tangent_t , class JacobianOut_t >
void	dIntegrateTransport_dv_impl (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J) const
template<class ConfigIn_t , class Velocity_t , class ConfigOut_t >
void	integrate_impl (const Eigen::MatrixBase< ConfigIn_t > &q, const Eigen::MatrixBase< Velocity_t > &v, const Eigen::MatrixBase< ConfigOut_t > &qout) const
template<class Config_t , class Jacobian_t >
void	integrateCoeffWiseJacobian_impl (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Jacobian_t > &J) const
template<typename LieGroup1 , typename LieGroup2 >
bool	isEqual (const CartesianProductOperation< LieGroup1, LieGroup2 > &other) const
bool	isEqual_impl (const CartesianProductOperationVariantTpl &other) const
template<class Config_t >
bool	isNormalized_impl (const Eigen::MatrixBase< Config_t > &qout, const Scalar &prec) const
template<class ConfigL_t , class ConfigR_t >
bool	isSameConfiguration_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &prec) const
std::string	name () const
ConfigVector_t	neutral () const
template<class Config_t >
void	normalize_impl (const Eigen::MatrixBase< Config_t > &qout) const
int	nq () const
int	nv () const
CartesianProductOperationVariantTpl	operator* (const CartesianProductOperationVariantTpl &other) const
	Cartesian product between *this and other. More...
CartesianProductOperationVariantTpl &	operator*= (const CartesianProductOperationVariantTpl &other)
	Append other to *this. More...
template<typename LieGroupDerived >
CartesianProductOperationVariantTpl &	operator*= (const LieGroupBase< LieGroupDerived > &lg)
	Append a Lie group to *this. More...
CartesianProductOperationVariantTpl &	operator*= (const LieGroupGeneric &lg)
	Append a Lie group to *this. More...
	PINOCCHIO_LIE_GROUP_TPL_PUBLIC_INTERFACE (CartesianProductOperationVariantTpl)
template<class Config_t >
void	random_impl (const Eigen::MatrixBase< Config_t > &qout) const
template<class ConfigL_t , class ConfigR_t , class ConfigOut_t >
void	randomConfiguration_impl (const Eigen::MatrixBase< ConfigL_t > &lower, const Eigen::MatrixBase< ConfigR_t > &upper, const Eigen::MatrixBase< ConfigOut_t > &qout) const
template<class ConfigL_t , class ConfigR_t >
Scalar	squaredDistance_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const
Public Member Functions inherited from LieGroupBase< CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl > >
void	integrate (const Eigen::MatrixBase< ConfigIn_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< ConfigOut_t > &qout) const
	Integrate a joint's configuration with a tangent vector during one unit time duration. More...
void	integrateCoeffWiseJacobian (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Jacobian_t > &J) const
	Computes the Jacobian of the integrate operator around zero. More...
void	dIntegrate (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, AssignmentOperatorType op=SETTO) const
	Computes the Jacobian of a small variation of the configuration vector or the tangent vector into tangent space at identity. More...
void	dIntegrate (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const ArgumentPosition arg, const AssignmentOperatorType op=SETTO) const
	Computes the Jacobian of a small variation of the configuration vector or the tangent vector into tangent space at identity. More...
void	dIntegrate_dq (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const AssignmentOperatorType op=SETTO) const
	Computes the Jacobian of a small variation of the configuration vector into tangent space at identity. More...
void	dIntegrate_dq (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &Jin, int self, const Eigen::MatrixBase< JacobianOut_t > &Jout, const AssignmentOperatorType op=SETTO) const
void	dIntegrate_dq (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, int self, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout, const AssignmentOperatorType op=SETTO) const
void	dIntegrate_dv (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const AssignmentOperatorType op=SETTO) const
	Computes the Jacobian of a small variation of the tangent vector into tangent space at identity. More...
void	dIntegrate_dv (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, int self, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout, const AssignmentOperatorType op=SETTO) const
void	dIntegrate_dv (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &Jin, int self, const Eigen::MatrixBase< JacobianOut_t > &Jout, const AssignmentOperatorType op=SETTO) const
void	dIntegrateTransport (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout, const ArgumentPosition arg) const
	Transport a matrix from the terminal to the initial tangent space of the integrate operation, with respect to the configuration or the velocity arguments. More...
void	dIntegrateTransport (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< Jacobian_t > &J, const ArgumentPosition arg) const
	Transport in place a matrix from the terminal to the initial tangent space of the integrate operation, with respect to the configuration or the velocity arguments. More...
void	dIntegrateTransport_dq (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout) const
	Transport a matrix from the terminal to the initial tangent space of the integrate operation, with respect to the configuration argument. More...
void	dIntegrateTransport_dq (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< Jacobian_t > &J) const
	Transport in place a matrix from the terminal to the initial tangent space of the integrate operation, with respect to the configuration argument. More...
void	dIntegrateTransport_dv (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout) const
	Transport a matrix from the terminal to the initial tangent space of the integrate operation, with respect to the velocity argument. More...
void	dIntegrateTransport_dv (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< Jacobian_t > &J) const
	Transport in place a matrix from the terminal to the initial tangent space of the integrate operation, with respect to the velocity argument. More...
void	interpolate (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &u, const Eigen::MatrixBase< ConfigOut_t > &qout) const
	Interpolation between two joint's configurations. More...
void	normalize (const Eigen::MatrixBase< Config_t > &qout) const
	Normalize the joint configuration given as input. For instance, the quaternion must be unitary. More...
bool	isNormalized (const Eigen::MatrixBase< Config_t > &qin, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
	Check whether the input joint configuration is normalized. For instance, the quaternion must be unitary. More...
void	random (const Eigen::MatrixBase< Config_t > &qout) const
	Generate a random joint configuration, normalizing quaternions when necessary. More...
void	randomConfiguration (const Eigen::MatrixBase< ConfigL_t > &lower_pos_limit, const Eigen::MatrixBase< ConfigR_t > &upper_pos_limit, const Eigen::MatrixBase< ConfigOut_t > &qout) const
	Generate a configuration vector uniformly sampled among provided limits. More...
void	difference (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< Tangent_t > &v) const
	Computes the tangent vector that must be integrated during one unit time to go from q0 to q1. More...
void	dDifference (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< JacobianOut_t > &J) const
	Computes the Jacobian of the difference operation with respect to q0 or q1. More...
void	dDifference (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< JacobianOut_t > &J, const ArgumentPosition arg) const
	Computes the Jacobian of the difference operation with respect to q0 or q1. More...
void	dDifference (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< JacobianIn_t > &Jin, int self, const Eigen::MatrixBase< JacobianOut_t > &Jout, const AssignmentOperatorType op=SETTO) const
void	dDifference (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, int self, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout, const AssignmentOperatorType op=SETTO) const
Scalar	squaredDistance (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const
	Squared distance between two joint configurations. More...
Scalar	distance (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const
	Distance between two configurations of the joint. More...
bool	isSameConfiguration (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
	Check if two configurations are equivalent within the given precision. More...
bool	operator== (const LieGroupBase &other) const
bool	operator!= (const LieGroupBase &other) const
ConfigVector_t	integrate (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v) const
ConfigVector_t	interpolate (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &u) const
ConfigVector_t	random () const
ConfigVector_t	randomConfiguration (const Eigen::MatrixBase< ConfigL_t > &lower_pos_limit, const Eigen::MatrixBase< ConfigR_t > &upper_pos_limit) const
TangentVector_t	difference (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const
void	dIntegrate_product_impl (const Config_t &q, const Tangent_t &v, const JacobianIn_t &Jin, JacobianOut_t &Jout, bool dIntegrateOnTheLeft, const ArgumentPosition arg, const AssignmentOperatorType op) const
void	dDifference_product_impl (const ConfigL_t &q0, const ConfigR_t &q1, const JacobianIn_t &Jin, JacobianOut_t &Jout, bool dDifferenceOnTheLeft, const AssignmentOperatorType op) const
void	interpolate_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &u, const Eigen::MatrixBase< ConfigOut_t > &qout) const
void	normalize_impl (const Eigen::MatrixBase< Config_t > &qout) const
bool	isNormalized_impl (const Eigen::MatrixBase< Config_t > &qin, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
Scalar	squaredDistance_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const
bool	isSameConfiguration_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &prec) const
bool	isEqual_impl (const LieGroupBase &) const
	Default equality check. By default, two LieGroupBase of same type are considered equal.
bool	isDifferent_impl (const LieGroupBase &other) const
Index	nq () const
Index	nv () const
	Get dimension of Lie Group tangent space.
ConfigVector_t	neutral () const
	Get neutral element as a vector.
std::string	name () const
	Get name of instance.
CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl > &	derived ()
const CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl > &	derived () const

Protected Member Functions
	PINOCCHIO_ALIGNED_STD_VECTOR (LieGroupGeneric) liegroups
Protected Member Functions inherited from LieGroupBase< CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl > >
	LieGroupBase ()
	LieGroupBase (const LieGroupBase &)
LieGroupBase &	operator= (const LieGroupBase &)

Protected Attributes
std::vector< Index >	lg_nqs
std::vector< Index >	lg_nvs
std::string	m_name
ConfigVector_t	m_neutral
Index	m_nq
Index	m_nv

Detailed Description

template<typename _Scalar, int _Options, template< typename, int > class LieGroupCollectionTpl>
struct pinocchio::CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl >

Dynamic Cartesian product composed of elementary Lie groups defined in LieGroupVariant.

Definition at line 43 of file cartesian-product-variant.hpp.

Constructor & Destructor Documentation

CartesianProductOperationVariantTpl() [1/2]

CartesianProductOperationVariantTpl ( const LieGroupGeneric &  lg )

inlineexplicit

Constructor with one single Lie group.

Parameters

[in]

lg

Lie group variant to insert inside the Cartesian product

Definition at line 68 of file cartesian-product-variant.hpp.

CartesianProductOperationVariantTpl() [2/2]

CartesianProductOperationVariantTpl ( const LieGroupGeneric &  lg1, const LieGroupGeneric &  lg2  )

inline

Constructor with two Lie groups.

Parameters

[in]	lg1	Lie group variant to insert inside the Cartesian product
[in]	lg2	Lie group variant to insert inside the Cartesian product

Definition at line 84 of file cartesian-product-variant.hpp.

Member Function Documentation

append() [1/2]

void append ( const LieGroupBase< LieGroupDerived > &  lg )

inline

Append a Lie group to the Cartesian product.

Parameters

[in]

lg

Lie group to insert inside the Cartesian product

Definition at line 108 of file cartesian-product-variant.hpp.

append() [2/2]

void append

(

const LieGroupGeneric &

lg

)

Append a Lie group to the Cartesian product.

Parameters

[in]

lg

Lie group variant to insert inside the Cartesian product

operator*()

CartesianProductOperationVariantTpl operator*

(

const CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl > &

other

)

const

Cartesian product between *this and other.

Parameters

[in]

other

CartesianProductOperation to compose with this

Returns

A new Cartesian product betwenn *this and other.

operator*=() [1/3]

CartesianProductOperationVariantTpl& operator*=

(

const CartesianProductOperationVariantTpl< _Scalar, _Options, LieGroupCollectionTpl > &

other

)

Append other to *this.

Parameters

[in]

other

CartesianProductOperation to append to *this.

operator*=() [2/3]

CartesianProductOperationVariantTpl& operator*= ( const LieGroupBase< LieGroupDerived > &  lg )

inline

Append a Lie group to *this.

Parameters

[in]

lg

LieGroupGeneric to append to *this.

Definition at line 150 of file cartesian-product-variant.hpp.

operator*=() [3/3]

CartesianProductOperationVariantTpl& operator*= ( const LieGroupGeneric &  lg )

inline

Append a Lie group to *this.

Parameters

[in]

lg

LieGroupGeneric to append to *this.

Definition at line 137 of file cartesian-product-variant.hpp.

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

• include/pinocchio/multibody/liegroup/cartesian-product-variant.hpp