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pinocchio
3.3.1
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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pinocchio
3.3.1
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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Public Types | |
| enum | { Options = LieGroupCollection::Options } |
| typedef LieGroupCollection::LieGroupVariant | Base |
| typedef LieGroupCollection::LieGroupVariant | LieGroupVariant |
| typedef LieGroupCollection::Scalar | Scalar |
 Public Types inherited from LieGroupBase< LieGroupGenericTpl< LieGroupCollection > > | |
| enum | |
| typedef Eigen::Matrix< Scalar, NQ, 1, Options > | ConfigVector_t |
| typedef int | Index |
| typedef Eigen::Matrix< Scalar, NV, NV, Options > | JacobianMatrix_t |
| typedef LieGroupGenericTpl< LieGroupCollection > | LieGroupDerived |
| typedef traits< LieGroupDerived >::Scalar | Scalar |
| typedef Eigen::Matrix< Scalar, NV, 1, Options > | TangentVector_t |
Public Member Functions | |
| template<typename LieGroupDerived > | |
| LieGroupGenericTpl (const LieGroupBase< LieGroupDerived > &lg_base) | |
| LieGroupGenericTpl (const LieGroupGenericTpl &lg_generic)=default | |
| template<typename LieGroup > | |
| LieGroupGenericTpl (const LieGroupVariant &lg_variant) | |
| bool | isEqual_impl (const LieGroupGenericTpl &other) const |
| std::string | name () const |
| int | nq () const |
| int | nv () const |
| bool | operator!= (const LieGroupGenericTpl &other) const |
| LieGroupGenericTpl & | operator= (const LieGroupGenericTpl &other)=default |
| bool | operator== (const LieGroupGenericTpl &other) const |
| LieGroupVariant & | toVariant () |
| const LieGroupVariant & | toVariant () const |
| Public Member Functions inherited from LieGroupBase< LieGroupGenericTpl< LieGroupCollection > > | |
| 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. | |
| LieGroupGenericTpl< LieGroupCollection > & | derived () |
| const LieGroupGenericTpl< LieGroupCollection > & | derived () const |
Additional Inherited Members | |
| Protected Member Functions inherited from LieGroupBase< LieGroupGenericTpl< LieGroupCollection > > | |
| LieGroupBase () | |
| LieGroupBase (const LieGroupBase &) | |
| LieGroupBase & | operator= (const LieGroupBase &) |
Definition at line 29 of file liegroup-generic.hpp.
1.9.1