Public Types
typedef SE3Base< SE3Tpl< _Scalar, _Options > >	Base

typedef traits< SE3Tpl >::Matrix3	Matrix3

typedef traits< SE3Tpl >::Matrix4	Matrix4

typedef traits< SE3Tpl >::Matrix6	Matrix6

typedef Eigen::Quaternion< Scalar, Options >	Quaternion

typedef traits< SE3Tpl >::Vector3	Vector3

typedef traits< SE3Tpl >::Vector4	Vector4

Public Member Functions
template<typename Matrix3Like , typename Vector3Like >
	SE3Tpl (const Eigen::MatrixBase< Matrix3Like > &R, const Eigen::MatrixBase< Vector3Like > &trans)

template<typename Matrix4Like >
	SE3Tpl (const Eigen::MatrixBase< Matrix4Like > &m)

template<typename QuaternionLike , typename Vector3Like >
	SE3Tpl (const Eigen::QuaternionBase< QuaternionLike > &quat, const Eigen::MatrixBase< Vector3Like > &trans)

template<int O2>
	SE3Tpl (const SE3Tpl< Scalar, O2 > &clone)

	SE3Tpl (int)

template<int O2>
SE3Tpl	__mult__ (const SE3Tpl< Scalar, O2 > &m2) const

template<typename D >
SE3GroupAction< D >::ReturnType	act_impl (const D &d) const
	— GROUP ACTIONS ON M6, F6 and I6 — More...

template<int O2>
SE3Tpl	act_impl (const SE3Tpl< Scalar, O2 > &m2) const

Vector3	act_impl (const Vector3 &p) const

template<typename D >
SE3GroupAction< D >::ReturnType	actInv_impl (const D &d) const
	by = aXb.actInv(ay)

template<int O2>
SE3Tpl	actInv_impl (const SE3Tpl< Scalar, O2 > &m2) const

Vector3	actInv_impl (const Vector3 &p) const

template<typename MapDerived >
Vector3	actInvOnEigenObject (const Eigen::MapBase< MapDerived > &p) const

template<typename EigenDerived >
EigenDerived::PlainObject	actInvOnEigenObject (const Eigen::MatrixBase< EigenDerived > &p) const

template<typename MapDerived >
Vector3	actOnEigenObject (const Eigen::MapBase< MapDerived > &p) const

template<typename EigenDerived >
EigenDerived::PlainObject	actOnEigenObject (const Eigen::MatrixBase< EigenDerived > &p) const

template<typename NewScalar >
SE3Tpl< NewScalar, Options >	cast () const

void	disp_impl (std::ostream &os) const

template<typename OtherScalar >
SE3Tpl< Scalar, Options >	Interpolate (const SE3Tpl &A, const SE3Tpl &B, const OtherScalar &alpha)

SE3Tpl	inverse () const
	aXb = bXa.inverse()

template<int O2>
bool	isApprox_impl (const SE3Tpl< Scalar, O2 > &m2, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

template<int O2>
bool	isEqual (const SE3Tpl< Scalar, O2 > &m2) const

bool	isIdentity (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

bool	isNormalized (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

void	normalize ()

PlainType	normalized () const

template<int O2>
SE3Tpl &	operator= (const SE3Tpl< Scalar, O2 > &other)

	PINOCCHIO_SE3_TYPEDEF_TPL (SE3Tpl)

AngularRef	rotation ()

ConstAngularRef	rotation () const

void	rotation (const AngularType &R)

AngularRef	rotation_impl ()

ConstAngularRef	rotation_impl () const

void	rotation_impl (const AngularType &R)

SE3Tpl &	setIdentity ()

SE3Tpl &	setRandom ()

ActionMatrixType	toActionMatrix_impl () const
	Vb.toVector() = bXa.toMatrix() * Va.toVector()

ActionMatrixType	toActionMatrixInverse_impl () const

ActionMatrixType	toDualActionMatrix_impl () const

HomogeneousMatrixType	toHomogeneousMatrix_impl () const

LinearRef	translation ()

ConstLinearRef	translation () const

void	translation (const LinearType &t)

LinearRef	translation_impl ()

ConstLinearRef	translation_impl () const

void	translation_impl (const LinearType &p)

Static Public Member Functions
static SE3Tpl	Identity ()

template<typename OtherScalar >
static SE3Tpl	Interpolate (const SE3Tpl &A, const SE3Tpl &B, const OtherScalar &alpha)
	Linear interpolation on the SE3 manifold. More...

static SE3Tpl	Random ()

Protected Attributes
AngularType	rot

LinearType	trans

Detailed Description

template<typename _Scalar, int _Options>
struct pinocchio::SE3Tpl< _Scalar, _Options >

Definition at line 38 of file fwd.hpp.

Member Function Documentation

◆ act_impl()

SE3GroupAction<D>::ReturnType act_impl ( const D & d ) const

inline

— GROUP ACTIONS ON M6, F6 and I6 —

ay = aXb.act(by)

Definition at line 210 of file se3-tpl.hpp.

◆ cast()

SE3Tpl<NewScalar,Options> cast ( ) const

inline

Returns: An expression of *this with the Scalar type casted to NewScalar.

Definition at line 288 of file se3-tpl.hpp.

◆ Interpolate()

static SE3Tpl Interpolate	(	const SE3Tpl< _Scalar, _Options > &	A,
		const SE3Tpl< _Scalar, _Options > &	B,
		const OtherScalar &	alpha
	)

static

Linear interpolation on the SE3 manifold.

Parameters

[in]	A	Initial transformation.
[in]	B	Target transformation.
[in]	alpha	Interpolation factor in [0 ... 1].

Returns: An interpolated transformation between A and B.

Note: This is similar to the SLERP operation which acts initially for rotation but applied here to rigid transformation.

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

include/pinocchio/spatial/fwd.hpp
include/pinocchio/spatial/se3-tpl.hpp
include/pinocchio/spatial/explog.hpp

Public Types

Public Member Functions

Static Public Member Functions