#include <spatial/se3-base.hpp>

Public Member Functions
template<typename D >
internal::SE3GroupAction< D >::ReturnType	act (const D &d) const
	ay = aXb.act(by)

template<typename D >
internal::SE3GroupAction< D >::ReturnType	actInv (const D &d) const
	by = aXb.actInv(ay)

Derived &	derived ()

const Derived &	derived () const

void	disp (std::ostream &os) const

bool	isApprox (const Derived &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const

bool	isIdentity (const typename traits< Derived >::Scalar &prec=Eigen::NumTraits< typename traits< Derived >::Scalar >::dummy_precision()) const

	operator ActionMatrixType () const

	operator HomogeneousMatrixType () const

bool	operator!= (const Derived &other) const

internal::SE3GroupAction< Derived >::ReturnType	operator* (const Derived &m2) const

bool	operator== (const Derived &other) const

	PINOCCHIO_SE3_TYPEDEF_TPL (Derived)

ConstAngularRef	rotation () const

AngularRef	rotation ()

void	rotation (const AngularType &R)

ActionMatrixType	toActionMatrix () const

ActionMatrixType	toDualActionMatrix () const

HomogeneousMatrixType	toHomogeneousMatrix () const

ConstLinearRef	translation () const

LinearRef	translation ()

void	translation (const LinearType &t)

Friends
std::ostream &	operator<< (std::ostream &os, const SE3Base< Derived > &X)

Detailed Description

template<class Derived>
struct pinocchio::SE3Base< Derived >

The rigid transform aMb can be seen in two ways:

given a point p expressed in frame B by its coordinate vector Bp, aMb computes its coordinates in frame A by Ap = aMb Bp.
aMb displaces a solid S centered at frame A into the solid centered in B. In particular, the origin of A is displaced at the origin of B: $^aM_b ^aA = ^aB$.

The rigid displacement is stored as a rotation matrix and translation vector by: aMb (x) = aRb*x + aAB where aAB is the vector from origin A to origin B expressed in coordinates A.

Definition at line 24 of file se3-base.hpp.

Member Function Documentation

bool isIdentity ( const typename traits< Derived >::Scalar & prec = Eigen::NumTraits<typename traits<Derived>::Scalar>::dummy_precision() ) const

inline

Returns: true if *this is approximately equal to the identity placement, within the precision given by prec.

Definition at line 97 of file se3-base.hpp.

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

se3-base.hpp

Public Member Functions

Friends

Detailed Description

template<class Derived> struct pinocchio::SE3Base< Derived >

Member Function Documentation

template<class Derived>
struct pinocchio::SE3Base< Derived >