Writable element of a Lie group. More...

#include <hpp/pinocchio/liegroup-element.hh>

Inheritance diagram for hpp::pinocchio::LiegroupElementBase< vector_type >:

Collaboration diagram for hpp::pinocchio::LiegroupElementBase< vector_type >:

Public Types
typedef LiegroupElementConstBase< vector_type >	Base

Public Member Functions
	LiegroupElementBase (const vector_type &value, const LiegroupSpacePtr_t &space)
	Constructor. More...

	LiegroupElementBase (const LiegroupSpacePtr_t &space)
	Constructor. More...

	LiegroupElementBase (const vector_type &value)
	Constructor. More...

template<typename vector_type2 >
	LiegroupElementBase (const LiegroupElementConstBase< vector_type2 > &other)
	Copy constructor. More...

template<typename vector_type2 >
	LiegroupElementBase (const LiegroupElementBase< vector_type2 > &other)
	Copy constructor. More...

template<typename vector_type2 >
	LiegroupElementBase (LiegroupElementBase< vector_type2 > &other)
	Casting operator from LiegroupElement to LiegroupElementRef More...

	LiegroupElementBase ()
	Constructor of trivial element. More...

const vector_type &	vector () const
	Const vector representation. More...

vector_type &	vector ()
	Modifiable vector representation. More...

void	setNeutral ()
	Set element to neutral element. More...

LiegroupElementBase &	operator+= (vectorIn_t v)
	Inplace integration of a velocity vector. More...

template<typename vector_type2 >
LiegroupElementBase &	operator= (const LiegroupElementConstBase< vector_type2 > &other)
	Assignment from another LiegroupElement. More...

template<typename Vector >
LiegroupElementBase &	operator= (const Eigen::MatrixBase< Vector > &v)
	Assignment from a vector. More...

Public Member Functions inherited from hpp::pinocchio::LiegroupElementConstBase< vector_type >
template<typename Derived >
	LiegroupElementConstBase (const Eigen::EigenBase< Derived > &value, const LiegroupSpacePtr_t &liegroupSpace)
	Constructor. More...

template<typename Derived >
	LiegroupElementConstBase (const Eigen::EigenBase< Derived > &value)
	Constructor. More...

template<typename vector_type2 >
	LiegroupElementConstBase (const LiegroupElementConstBase< vector_type2 > &other)
	Constructor to allow casting LiegroupElement and LiegroupElementRef into a LiegroupElementConstRef. More...

const LiegroupSpacePtr_t &	space () const
	get reference to vector of Lie groups More...

const vector_type &	vector () const
	Const vector representation. More...

size_type	size () const
	Size of the vector representation. More...

void	check () const
	Check that size of vector fits size of space. More...

Additional Inherited Members
Protected Member Functions inherited from hpp::pinocchio::LiegroupElementConstBase< vector_type >
template<typename Derived >
	LiegroupElementConstBase (const Eigen::EigenBase< Derived > &value, const LiegroupSpacePtr_t &space, void *)

Protected Attributes inherited from hpp::pinocchio::LiegroupElementConstBase< vector_type >
vector_type	value_

LiegroupSpacePtr_t	space_

Detailed Description

template<typename vector_type>
class hpp::pinocchio::LiegroupElementBase< vector_type >

Writable element of a Lie group.

See also: LiegroupSpace, LiegroupElement, LiegroupElementRef

Member Typedef Documentation

template<typename vector_type>

typedef LiegroupElementConstBase<vector_type> hpp::pinocchio::LiegroupElementBase< vector_type >::Base

Constructor & Destructor Documentation

template<typename vector_type>

hpp::pinocchio::LiegroupElementBase< vector_type >::LiegroupElementBase	(	const vector_type &	value,
		const LiegroupSpacePtr_t &	space
	)

inline

Constructor.

Parameters

value	vector representation,
space	space the element belongs to.

template<typename vector_type>

hpp::pinocchio::LiegroupElementBase< vector_type >::LiegroupElementBase ( const LiegroupSpacePtr_t & space )

inline

Constructor.

Parameters

space space the element belongs to.

template<typename vector_type>

hpp::pinocchio::LiegroupElementBase< vector_type >::LiegroupElementBase ( const vector_type & value )

inlineexplicit

Constructor.

Parameters

value vector representation,

By default the space containing the value is a vector space.

References create().

template<typename vector_type>

template<typename vector_type2 >

hpp::pinocchio::LiegroupElementBase< vector_type >::LiegroupElementBase ( const LiegroupElementConstBase< vector_type2 > & other )

inline

Copy constructor.

Handles the following case:

LiegroupElement <- LiegroupElementConstRef

template<typename vector_type>

template<typename vector_type2 >

hpp::pinocchio::LiegroupElementBase< vector_type >::LiegroupElementBase ( const LiegroupElementBase< vector_type2 > & other )

inline

Copy constructor.

Handles the following cases:

LiegroupElement <- LiegroupElement
LiegroupElementRef <- LiegroupElementRef
LiegroupElement <- LiegroupElementRef

template<typename vector_type>

template<typename vector_type2 >

hpp::pinocchio::LiegroupElementBase< vector_type >::LiegroupElementBase ( LiegroupElementBase< vector_type2 > & other )

inline

Casting operator from LiegroupElement to LiegroupElementRef

template<typename vector_type>

hpp::pinocchio::LiegroupElementBase< vector_type >::LiegroupElementBase ( )

inline

Constructor of trivial element.

Member Function Documentation

template<typename vector_type>

LiegroupElementBase& hpp::pinocchio::LiegroupElementBase< vector_type >::operator+= ( vectorIn_t v )

Inplace integration of a velocity vector.

template<typename vector_type>

template<typename vector_type2 >

LiegroupElementBase& hpp::pinocchio::LiegroupElementBase< vector_type >::operator= ( const LiegroupElementConstBase< vector_type2 > & other )

inline

Assignment from another LiegroupElement.

References hpp::pinocchio::LiegroupElementConstBase< vector_type >::space_, and hpp::pinocchio::LiegroupElementConstBase< vector_type >::value_.

template<typename vector_type>

template<typename Vector >

LiegroupElementBase& hpp::pinocchio::LiegroupElementBase< vector_type >::operator= ( const Eigen::MatrixBase< Vector > & v )

inline

Assignment from a vector.

References hpp::pinocchio::log(), hpp::pinocchio::operator+(), hpp::pinocchio::operator-(), hpp::pinocchio::LiegroupElementConstBase< vector_type >::space_, and hpp::pinocchio::LiegroupElementConstBase< vector_type >::value_.

template<typename vector_type>

void hpp::pinocchio::LiegroupElementBase< vector_type >::setNeutral ( )

inline

Set element to neutral element.

References hpp::pinocchio::LiegroupElementConstBase< vector_type >::space_, and hpp::pinocchio::LiegroupElementConstBase< vector_type >::value_.

template<typename vector_type>

const vector_type& hpp::pinocchio::LiegroupElementBase< vector_type >::vector ( ) const

inline

Const vector representation.

template<typename vector_type>

vector_type& hpp::pinocchio::LiegroupElementBase< vector_type >::vector ( )

inline

Modifiable vector representation.

References hpp::pinocchio::LiegroupElementConstBase< vector_type >::value_.

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

template<typename vector_type> class hpp::pinocchio::LiegroupElementBase< vector_type >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename vector_type>
class hpp::pinocchio::LiegroupElementBase< vector_type >