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

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

Public Types
typedef LieGroupCollectionTpl< Scalar, Options >	LieGroupCollection

typedef LieGroupGenericTpl< LieGroupCollection >	LieGroupGeneric

typedef LieGroupCollection::LieGroupVariant	LieGroupVariant

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

Protected Member Functions
	PINOCCHIO_ALIGNED_STD_VECTOR (LieGroupGeneric) liegroups

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 18 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 59 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 73 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 95 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 134 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 122 of file cartesian-product-variant.hpp.

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

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

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

Constructor & Destructor Documentation

◆ CartesianProductOperationVariantTpl() [1/2]

◆ CartesianProductOperationVariantTpl() [2/2]

Member Function Documentation

◆ append() [1/2]

◆ append() [2/2]

◆ operator*()

◆ operator*=() [1/3]

◆ operator*=() [2/3]

◆ operator*=() [3/3]

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