Inheritance diagram for VectorSpaceOperation< Size >:

Collaboration diagram for VectorSpaceOperation< Size >:

Public Member Functions
	SE3_LIE_GROUP_TPL_PUBLIC_INTERFACE (VectorSpaceOperation)

	VectorSpaceOperation (int size=boost::static_signed_max< 0, Size >::value)

	VectorSpaceOperation (const VectorSpaceOperation &other)

Index	nq () const

Index	nv () const

ConfigVector_t	neutral () const

std::string	name () const

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

Public Member Functions inherited from LieGroupBase< VectorSpaceOperation< Size > >
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	dIntegrate_dq (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J) const
	Computes the Jacobian of the Integrate operation. More...

void	dIntegrate_dv (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J) const
	Computes the Jacobian of the Integrate operation. 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...

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	Jdifference (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< JacobianLOut_t > &J0, const Eigen::MatrixBase< JacobianROut_t > &J1) const
	Computes the Jacobian of the difference operation. More...

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...

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	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

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

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.

VectorSpaceOperation< Size > &	derived ()

const VectorSpaceOperation< Size > &	derived () 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 ConfigL_t , class ConfigR_t , class JacobianLOut_t , class JacobianROut_t >
static void	Jdifference_impl (const Eigen::MatrixBase< ConfigL_t > &, const Eigen::MatrixBase< ConfigR_t > &, const Eigen::MatrixBase< JacobianLOut_t > &J0, const Eigen::MatrixBase< JacobianROut_t > &J1)

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 Tangent_t , class JacobianOut_t >
static void	Jintegrate_impl (const Eigen::MatrixBase< Tangent_t > &, const Eigen::MatrixBase< JacobianOut_t > &J)

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)

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)

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

Additional Inherited Members
Public Types inherited from LieGroupBase< VectorSpaceOperation< Size > >
enum

typedef VectorSpaceOperation< Size >	LieGroupDerived

typedef int	Index

typedef traits< LieGroupDerived >::Scalar	Scalar

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

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

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

Protected Member Functions inherited from LieGroupBase< VectorSpaceOperation< Size > >
	LieGroupBase ()

	LieGroupBase (const LieGroupBase &)

Detailed Description

template<int Size = Eigen::Dynamic>
struct se3::VectorSpaceOperation< Size >

Definition at line 29 of file vector-space.hpp.

Constructor & Destructor Documentation

VectorSpaceOperation ( int size = boost::static_signed_max<0,Size>::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 46 of file vector-space.hpp.

VectorSpaceOperation ( const VectorSpaceOperation< Size > & other )

inline

Constructor

Parameters

other other VectorSpaceOperation from which to retrieve size

Definition at line 53 of file vector-space.hpp.

References se3::name(), se3::neutral(), se3::nq(), and se3::nv().

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

vector-space.hpp

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

template<int Size = Eigen::Dynamic> struct se3::VectorSpaceOperation< Size >

Constructor & Destructor Documentation

template<int Size = Eigen::Dynamic>
struct se3::VectorSpaceOperation< Size >