Inheritance diagram for VectorSpaceOperationTpl< Dim, _Scalar, _Options >:

Collaboration diagram for VectorSpaceOperationTpl< Dim, _Scalar, _Options >:

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

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 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

Public Member Functions inherited from LieGroupBase< VectorSpaceOperationTpl< Dim, _Scalar, _Options > >
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.

VectorSpaceOperationTpl< Dim, _Scalar, _Options > &	derived ()

const VectorSpaceOperationTpl< Dim, _Scalar, _Options > &	derived () const

Static Public Member Functions
template<ArgumentPosition arg, class ConfigL_t , class ConfigR_t , class JacobianIn_t , class JacobianOut_t >
static void	dDifference_product_impl (const ConfigL_t &, const ConfigR_t &, const JacobianIn_t &Jin, JacobianOut_t &Jout, bool, const AssignmentOperatorType op)

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 Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >
static void	dIntegrate_product_impl (const Config_t &, const Tangent_t &, const JacobianIn_t &Jin, JacobianOut_t &Jout, bool, const ArgumentPosition, const AssignmentOperatorType op)

template<class Config_t , class Tangent_t , class Jacobian_t >
static void	dIntegrateTransport_dq_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Tangent_t > &, const Eigen::MatrixBase< Jacobian_t > &)

template<class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >
static 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)

template<class Config_t , class Tangent_t , class Jacobian_t >
static void	dIntegrateTransport_dv_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Tangent_t > &, const Eigen::MatrixBase< Jacobian_t > &)

template<class Config_t , class Tangent_t , class JacobianIn_t , class JacobianOut_t >
static 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)

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 > &)

template<class Config_t >
static void	random_impl (const Eigen::MatrixBase< Config_t > &qout)

Additional Inherited Members
Public Types inherited from LieGroupBase< VectorSpaceOperationTpl< Dim, _Scalar, _Options > >
enum

typedef Eigen::Matrix< Scalar, NQ, 1, Options >	ConfigVector_t

typedef int	Index

typedef Eigen::Matrix< Scalar, NV, NV, Options >	JacobianMatrix_t

typedef VectorSpaceOperationTpl< Dim, _Scalar, _Options >	LieGroupDerived

typedef traits< LieGroupDerived >::Scalar	Scalar

typedef Eigen::Matrix< Scalar, NV, 1, Options >	TangentVector_t

Protected Member Functions inherited from LieGroupBase< VectorSpaceOperationTpl< Dim, _Scalar, _Options > >
	LieGroupBase ()

	LieGroupBase (const LieGroupBase &)

LieGroupBase &	operator= (const LieGroupBase &)

Detailed Description

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

Definition at line 31 of file vector-space.hpp.

Constructor & Destructor Documentation

◆ VectorSpaceOperationTpl() [1/2]

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

inline

Constructor

Parameters

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

Definition at line 39 of file vector-space.hpp.

◆ VectorSpaceOperationTpl() [2/2]

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

inline

Constructor

Parameters

other other VectorSpaceOperationTpl from which to retrieve size

Definition at line 47 of file vector-space.hpp.

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

include/pinocchio/multibody/liegroup/vector-space.hpp

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

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

Constructor & Destructor Documentation

◆ VectorSpaceOperationTpl() [1/2]

◆ VectorSpaceOperationTpl() [2/2]

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