pinocchio  2.1.3
Public Types | Public Member Functions | Static Public Member Functions | Protected Attributes | List of all members
SE3Tpl< _Scalar, _Options > Struct Template Reference
Inheritance diagram for SE3Tpl< _Scalar, _Options >:
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Collaboration diagram for SE3Tpl< _Scalar, _Options >:
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Public Types

typedef SE3Base< SE3Tpl< _Scalar, _Options > > Base
 
typedef traits< SE3Tpl >::Matrix3 Matrix3
 
typedef traits< SE3Tpl >::Matrix4 Matrix4
 
typedef traits< SE3Tpl >::Matrix6 Matrix6
 
typedef Eigen::Quaternion< Scalar, Options > Quaternion
 
typedef traits< SE3Tpl >::Vector3 Vector3
 
typedef traits< SE3Tpl >::Vector4 Vector4
 

Public Member Functions

template<typename Matrix3Like , typename Vector3Like >
 SE3Tpl (const Eigen::MatrixBase< Matrix3Like > &R, const Eigen::MatrixBase< Vector3Like > &p)
 
template<typename Matrix4Like >
 SE3Tpl (const Eigen::MatrixBase< Matrix4Like > &m)
 
 SE3Tpl (int)
 
template<int O2>
 SE3Tpl (const SE3Tpl< Scalar, O2 > &clone)
 
template<int O2>
bool __equal__ (const SE3Tpl< Scalar, O2 > &m2) const
 
template<int O2>
SE3Tpl __mult__ (const SE3Tpl< Scalar, O2 > &m2) const
 
template<typename D >
internal::SE3GroupAction< D >::ReturnType act_impl (const D &d) const
 — GROUP ACTIONS ON M6, F6 and I6 — More...
 
Vector3 act_impl (const Vector3 &p) const
 
template<int O2>
SE3Tpl act_impl (const SE3Tpl< Scalar, O2 > &m2) const
 
template<typename D >
internal::SE3GroupAction< D >::ReturnType actInv_impl (const D &d) const
 by = aXb.actInv(ay)
 
Vector3 actInv_impl (const Vector3 &p) const
 
template<int O2>
SE3Tpl actInv_impl (const SE3Tpl< Scalar, O2 > &m2) const
 
template<typename EigenDerived >
EigenDerived::PlainObject actInvOnEigenObject (const Eigen::MatrixBase< EigenDerived > &p) const
 
template<typename MapDerived >
Vector3 actInvOnEigenObject (const Eigen::MapBase< MapDerived > &p) const
 
template<typename EigenDerived >
EigenDerived::PlainObject actOnEigenObject (const Eigen::MatrixBase< EigenDerived > &p) const
 
template<typename MapDerived >
Vector3 actOnEigenObject (const Eigen::MapBase< MapDerived > &p) const
 
template<typename NewScalar >
SE3Tpl< NewScalar, Options > cast () const
 
void disp_impl (std::ostream &os) const
 
SE3Tpl inverse () const
 aXb = bXa.inverse()
 
template<int O2>
bool isApprox_impl (const SE3Tpl< Scalar, O2 > &m2, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
 
bool isIdentity (const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
 
template<int O2>
SE3Tpl & operator= (const SE3Tpl< Scalar, O2 > &other)
 
 PINOCCHIO_SE3_TYPEDEF_TPL (SE3Tpl)
 
ConstAngularRef rotation_impl () const
 
AngularRef rotation_impl ()
 
void rotation_impl (const AngularType &R)
 
SE3Tpl & setIdentity ()
 
SE3Tpl & setRandom ()
 
ActionMatrixType toActionMatrix_impl () const
 Vb.toVector() = bXa.toMatrix() * Va.toVector()
 
ActionMatrixType toDualActionMatrix_impl () const
 
HomogeneousMatrixType toHomogeneousMatrix_impl () const
 
ConstLinearRef translation_impl () const
 
LinearRef translation_impl ()
 
void translation_impl (const LinearType &p)
 
- Public Member Functions inherited from SE3Base< SE3Tpl< _Scalar, _Options > >
internal::SE3GroupAction< D >::ReturnType act (const D &d) const
 ay = aXb.act(by)
 
internal::SE3GroupAction< D >::ReturnType actInv (const D &d) const
 by = aXb.actInv(ay)
 
SE3Tpl< _Scalar, _Options > & derived ()
 
const SE3Tpl< _Scalar, _Options > & derived () const
 
void disp (std::ostream &os) const
 
bool isApprox (const SE3Tpl< _Scalar, _Options > &other, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
 
bool isIdentity (const typename traits< SE3Tpl< _Scalar, _Options > >::Scalar &prec=Eigen::NumTraits< typename traits< SE3Tpl< _Scalar, _Options > >::Scalar >::dummy_precision()) const
 
 operator ActionMatrixType () const
 
 operator HomogeneousMatrixType () const
 
bool operator!= (const SE3Tpl< _Scalar, _Options > &other) const
 
internal::SE3GroupAction< SE3Tpl< _Scalar, _Options > >::ReturnType operator* (const SE3Tpl< _Scalar, _Options > &m2) const
 
bool operator== (const SE3Tpl< _Scalar, _Options > &other) const
 
 PINOCCHIO_SE3_TYPEDEF_TPL (SE3Tpl< _Scalar, _Options >)
 
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)
 

Static Public Member Functions

static SE3Tpl Identity ()
 
static SE3Tpl Random ()
 

Protected Attributes

AngularType rot
 
LinearType trans
 

Detailed Description

template<typename _Scalar, int _Options>
struct pinocchio::SE3Tpl< _Scalar, _Options >

Definition at line 15 of file spatial/fwd.hpp.

Member Function Documentation

internal::SE3GroupAction<D>::ReturnType act_impl ( const D &  d) const
inline

— GROUP ACTIONS ON M6, F6 and I6 —

ay = aXb.act(by)

Definition at line 172 of file se3-tpl.hpp.

SE3Tpl<NewScalar,Options> cast ( ) const
inline
Returns
An expression of *this with the Scalar type casted to NewScalar.

Definition at line 250 of file se3-tpl.hpp.

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