CartesianProductOperationVariant Struct Reference

Dynamic Cartesian product composed of elementary Lie groups defined in LieGroupVariant. More...

#include <multibody/liegroup/cartesian-product-variant.hpp>

Inheritance diagram for CartesianProductOperationVariant:

Collaboration diagram for CartesianProductOperationVariant:

Public Member Functions
	CartesianProductOperationVariant ()
	Default constructor.
	CartesianProductOperationVariant (const LieGroupVariant &lg)
	Constructor with one single Lie group. More...
	CartesianProductOperationVariant (const LieGroupVariant &lg1, const LieGroupVariant &lg2)
	Constructor with two Lie groups. More...
void	append (const LieGroupVariant &lg)
	Append a Lie group to the Cartesian product. More...
template<class ConfigIn_t , class Velocity_t , class ConfigOut_t >
void	integrate_impl (const Eigen::MatrixBase< ConfigIn_t > &q, const Eigen::MatrixBase< Velocity_t > &v, const Eigen::MatrixBase< ConfigOut_t > &qout) const
std::string	name () const
ConfigVector_t	neutral () const
int	nq () const
int	nv () const
	PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE (CartesianProductOperationVariant)

Protected Attributes
std::vector< Index >	lg_nqs
std::vector< Index >	lg_nvs
std::vector< LieGroupVariant >	liegroups
std::string	m_name
ConfigVector_t	m_neutral
Index	m_nq
Index	m_nv

Detailed Description

Dynamic Cartesian product composed of elementary Lie groups defined in LieGroupVariant.

Definition at line 32 of file cartesian-product-variant.hpp.

Constructor & Destructor Documentation

CartesianProductOperationVariant ( const LieGroupVariant &  lg )

inline

Constructor with one single Lie group.

Parameters

[in]

lg

Lie group variant to insert inside the Cartesian product

Definition at line 48 of file cartesian-product-variant.hpp.

CartesianProductOperationVariant ( const LieGroupVariant &  lg1, const LieGroupVariant &  lg2  )

inline

Constructor with two Lie groups.

Parameters

[in]	lg1	Lie group variant to insert inside the Cartesian product
[in]	lg2	Lie group variant to insert inside the Cartesian product

Definition at line 59 of file cartesian-product-variant.hpp.

Member Function Documentation

void append ( const LieGroupVariant &  lg )

inline

Append a Lie group to the Cartesian product.

Parameters

[in]

lg

Lie group variant to insert inside the Cartesian product

Definition at line 70 of file cartesian-product-variant.hpp.

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

---

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

• cartesian-product-variant.hpp