pinocchio  2.4.4
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
liegroup.hpp
1 //
2 // Copyright (c) 2016-2019 CNRS INRIA
3 //
4 
5 #ifndef __pinocchio_lie_group_hpp__
6 #define __pinocchio_lie_group_hpp__
7 
8 #include "pinocchio/multibody/liegroup/vector-space.hpp"
9 #include "pinocchio/multibody/liegroup/cartesian-product.hpp"
10 #include "pinocchio/multibody/liegroup/special-orthogonal.hpp"
11 #include "pinocchio/multibody/liegroup/special-euclidean.hpp"
12 
13 #include "pinocchio/multibody/joint/fwd.hpp"
14 
15 namespace pinocchio
16 {
17  struct LieGroupMap
18  {
19  template<typename JointModel>
20  struct operation
21  {
23  };
24  };
25 
26  template<typename JointModel>
27  struct LieGroup
28  {
30  };
31 
32  template<typename Scalar, int Options, template<typename S, int O> class JointCollectionTpl>
33  struct LieGroupMap::operation< JointModelCompositeTpl<Scalar,Options,JointCollectionTpl> >
34  {};
35 
36  template<typename Scalar, int Options>
38  {
40  };
41 
42  template<typename Scalar, int Options>
44  {
46  };
47 
48  template<typename Scalar, int Options>
49  struct LieGroupMap::operation< JointModelPlanarTpl<Scalar,Options> >
50  {
52  };
53 
54  template<typename Scalar, int Options, int axis>
56  {
58  };
59 
60  template<typename Scalar, int Options>
62  {
64  };
65 
66 }
67 
68 #endif // ifndef __pinocchio_lie_group_hpp__
Main pinocchio namespace.
Definition: treeview.dox:24