pinocchio  2.7.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
Public Member Functions | Static Public Member Functions | List of all members
VectorSpaceOperationTpl< Dim, _Scalar, _Options > Struct Template Reference

Public Member Functions

 VectorSpaceOperationTpl (const VectorSpaceOperationTpl &other)
 
 VectorSpaceOperationTpl (int size=boost::static_signed_max< 0, Dim >::value)
 
template<ArgumentPosition arg, class ConfigL_t , class ConfigR_t , class JacobianOut_t >
void dDifference_impl (const Eigen::MatrixBase< ConfigL_t > &, const Eigen::MatrixBase< ConfigR_t > &, 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 &, const ConfigR_t &, const JacobianIn_t &Jin, JacobianOut_t &Jout, bool, const AssignmentOperatorType op) const
 
template<class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >
void dIntegrate_product_impl (const Config_t &, const Tangent_t &, const JacobianIn_t &Jin, JacobianOut_t &Jout, bool, const ArgumentPosition, const AssignmentOperatorType op) const
 
template<class Config_t , class Tangent_t , class Jacobian_t >
void dIntegrateTransport_dq_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Tangent_t > &, const Eigen::MatrixBase< Jacobian_t > &) const
 
template<class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >
void dIntegrateTransport_dq_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Tangent_t > &, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout) const
 
template<class Config_t , class Tangent_t , class Jacobian_t >
void dIntegrateTransport_dv_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Tangent_t > &, const Eigen::MatrixBase< Jacobian_t > &) const
 
template<class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >
void dIntegrateTransport_dv_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Tangent_t > &, const Eigen::MatrixBase< JacobianIn_t > &Jin, const Eigen::MatrixBase< JacobianOut_t > &Jout) const
 
bool isEqual_impl (const VectorSpaceOperationTpl &other) const
 
std::string name () const
 
ConfigVector_t neutral () const
 
Index nq () const
 
Index nv () const
 
VectorSpaceOperationTpl & operator= (const VectorSpaceOperationTpl &other)
 
 PINOCCHIO_LIE_GROUP_TPL_PUBLIC_INTERFACE (VectorSpaceOperationTpl)
 
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_pos_limit, const Eigen::MatrixBase< ConfigR_t > &upper_pos_limit, const Eigen::MatrixBase< ConfigOut_t > &qout) const
 

Static Public Member Functions

template<class ConfigL_t , class ConfigR_t , class Tangent_t >
static void difference_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< Tangent_t > &d)
 
template<class Config_t , class Tangent_t , class JacobianOut_t >
static void dIntegrate_dq_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Tangent_t > &, const Eigen::MatrixBase< JacobianOut_t > &J, const AssignmentOperatorType op=SETTO)
 
template<class Config_t , class Tangent_t , class JacobianOut_t >
static void dIntegrate_dv_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Tangent_t > &, const Eigen::MatrixBase< JacobianOut_t > &J, const AssignmentOperatorType op=SETTO)
 
template<class ConfigIn_t , class Velocity_t , class ConfigOut_t >
static void integrate_impl (const Eigen::MatrixBase< ConfigIn_t > &q, const Eigen::MatrixBase< Velocity_t > &v, const Eigen::MatrixBase< ConfigOut_t > &qout)
 
template<class Config_t , class Jacobian_t >
static void integrateCoeffWiseJacobian_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Jacobian_t > &J)
 
template<class Config_t >
static bool isNormalized_impl (const Eigen::MatrixBase< Config_t > &, const Scalar &)
 
template<class Config_t >
static void normalize_impl (const Eigen::MatrixBase< Config_t > &)
 

Detailed Description

template<int Dim, typename _Scalar, int _Options>
struct pinocchio::VectorSpaceOperationTpl< Dim, _Scalar, _Options >

Definition at line 15 of file vector-space.hpp.

Constructor & Destructor Documentation

◆ VectorSpaceOperationTpl() [1/2]

VectorSpaceOperationTpl ( int  size = boost::static_signed_max<0,Dim>::value)
inline

Constructor

Parameters
sizesize of the vector space: should be the equal to template argument for static sized vector-spaces.

Definition at line 37 of file vector-space.hpp.

◆ VectorSpaceOperationTpl() [2/2]

VectorSpaceOperationTpl ( const VectorSpaceOperationTpl< Dim, _Scalar, _Options > &  other)
inline

Constructor

Parameters
otherother VectorSpaceOperationTpl from which to retrieve size

Definition at line 45 of file vector-space.hpp.

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