pinocchio  3.3.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
Public Types | Public Member Functions | Public Attributes | Friends | List of all members
LogCholeskyParametersTpl< _Scalar, _Options > Struct Template Reference
Spatial

A structure representing log Cholesky parameters. More...

#include <pinocchio/spatial/inertia.hpp>

Public Types

enum  { Options = _Options }
 
typedef Eigen::Matrix< Scalar, 10, 10, Options > Matrix10
 
typedef PseudoInertiaTpl< Scalar, Options > PseudoInertia
 
typedef _Scalar Scalar
 
typedef Eigen::Matrix< Scalar, 10, 1, Options > Vector10
 

Public Member Functions

 LogCholeskyParametersTpl (const Vector10 &log_cholesky)
 Constructor for LogCholeskyParametersTpl. More...
 
Matrix10 calculateJacobian () const
 Calculates the Jacobian of the log Cholesky parameters. More...
 
template<typename NewScalar >
LogCholeskyParametersTpl< NewScalar, Options > cast () const
 
void disp_impl (std::ostream &os) const
 
Vector10 toDynamicParameters () const
 Converts the LogCholeskyParametersTpl object to dynamic parameters. More...
 
InertiaTpl< Scalar, Options > toInertia () const
 Converts the LogCholeskyParametersTpl object to an InertiaTpl object. More...
 
PseudoInertia toPseudoInertia () const
 Converts the LogCholeskyParametersTpl object to a PseudoInertiaTpl object. More...
 

Public Attributes

Vector10 parameters
 10-dimensional vector of log Cholesky parameters
 

Friends

std::ostream & operator<< (std::ostream &os, const LogCholeskyParametersTpl &lcp)
 

Detailed Description

template<typename _Scalar, int _Options>
struct pinocchio::LogCholeskyParametersTpl< _Scalar, _Options >

A structure representing log Cholesky parameters.

References:

  • Rucker, Caleb, and Patrick M. Wensing. "Smooth parameterization of rigid-body inertia." IEEE Robotics and Automation Letters 7.2 (2022): 2771-2778.

Definition at line 1102 of file inertia.hpp.

Constructor & Destructor Documentation

◆ LogCholeskyParametersTpl()

LogCholeskyParametersTpl ( const Vector10 &  log_cholesky)
inlineexplicit

Constructor for LogCholeskyParametersTpl.

Parameters
log_choleskyA 10-dimensional vector of log Cholesky parameters.

Definition at line 1118 of file inertia.hpp.

Member Function Documentation

◆ calculateJacobian()

Matrix10 calculateJacobian ( ) const
inline

Calculates the Jacobian of the log Cholesky parameters.

Returns
A 10x10 matrix representing the Jacobian.

Definition at line 1191 of file inertia.hpp.

◆ cast()

LogCholeskyParametersTpl<NewScalar, Options> cast ( ) const
inline
Returns
An expression of *this with the Scalar type casted to NewScalar.

Definition at line 1279 of file inertia.hpp.

◆ toDynamicParameters()

Vector10 toDynamicParameters ( ) const
inline

Converts the LogCholeskyParametersTpl object to dynamic parameters.

Returns
A 10-dimensional vector of dynamic parameters.

Definition at line 1126 of file inertia.hpp.

◆ toInertia()

InertiaTpl<Scalar, Options> toInertia ( ) const
inline

Converts the LogCholeskyParametersTpl object to an InertiaTpl object.

Returns
An InertiaTpl object.

Definition at line 1181 of file inertia.hpp.

◆ toPseudoInertia()

PseudoInertia toPseudoInertia ( ) const
inline

Converts the LogCholeskyParametersTpl object to a PseudoInertiaTpl object.

Returns
A PseudoInertiaTpl object.

Definition at line 1171 of file inertia.hpp.

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