#include <spatial/se3-base.hpp>

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

template<typename D >
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

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
	The action matrix \( {}^aX_b \) of \( {}^aM_b \). More...

ActionMatrixType	toActionMatrixInverse () const
	The action matrix \( {}^bX_a \) of \( {}^aM_b \). More...

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 \( ^bp \), \( ^aM_b \) computes its coordinates in frame A by \( ^ap = {}^aM_b {}^bp \).
\( ^aM_b \) 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: \( ^aM_b x = {}^aR_b x + {}^aAB \) where \(^aAB\) is the vector from origin A to origin B expressed in coordinates A.

Remarkable identity:: \( {}^aM_c = {}^aM_b {}^bM_c \)

Definition at line 26 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 118 of file se3-base.hpp.

ActionMatrixType toActionMatrix ( ) const

inline

The action matrix \( {}^aX_b \) of \( {}^aM_b \).

With \( {}^aM_b = \left( \begin{array}{cc} R & t \\ 0 & 1 \\ \end{array} \right) \),

\[ {}^aX_b = \left( \begin{array}{cc} R & \hat{t} R \\ 0 & R \\ \end{array} \right) \]

Remarkable identity:: \( {}^a\nu_c = {}^aX_b {}^b\nu_c \)

Definition at line 56 of file se3-base.hpp.

Referenced by SE3Base< SE3Tpl< Scalar, _Options > >::toActionMatrix().

ActionMatrixType toActionMatrixInverse ( ) const

inline

The action matrix \( {}^bX_a \) of \( {}^aM_b \).

See also: toActionMatrix()

Definition at line 66 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 >