#include <multibody/liegroup/special-euclidean.hpp>

Inheritance diagram for SpecialEuclideanOperationTpl< 3, _Scalar, _Options >:

Public Types
typedef Eigen::Map< const Quaternion_t >	ConstQuaternionMap_t

typedef Eigen::Quaternion< Scalar, Options >	Quaternion_t

typedef Eigen::Map< Quaternion_t >	QuaternionMap_t

typedef CartesianProductOperation< VectorSpaceOperationTpl< 3, Scalar, Options >, SpecialOrthogonalOperationTpl< 3, Scalar, Options > >	R3crossSO3_t

typedef SE3Tpl< Scalar, Options >	SE3

typedef SE3Tpl< Scalar, Options >	Transformation_t

Public Types inherited from LieGroupBase< SpecialEuclideanOperationTpl< 3, _Scalar, _Options > >
enum

typedef Eigen::Matrix< Scalar, NQ, 1, Options >	ConfigVector_t

typedef int	Index

typedef Eigen::Matrix< Scalar, NV, NV, Options >	JacobianMatrix_t

typedef SpecialEuclideanOperationTpl< 3, _Scalar, _Options >	LieGroupDerived

typedef traits< LieGroupDerived >::Scalar	Scalar

typedef Eigen::Matrix< Scalar, NV, 1, Options >	TangentVector_t

Public Member Functions
template<ArgumentPosition arg, class ConfigL_t , class ConfigR_t , class JacobianOut_t >
void	dDifference_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< JacobianOut_t > &J) const

	PINOCCHIO_LIE_GROUP_TPL_PUBLIC_INTERFACE (SpecialEuclideanOperationTpl)

template<class Config_t >
void	random_impl (const Eigen::MatrixBase< Config_t > &qout) const

template<class ConfigL_t , class ConfigR_t , class ConfigOut_t >
void	randomConfiguration_impl (const Eigen::MatrixBase< ConfigL_t > &lower, const Eigen::MatrixBase< ConfigR_t > &upper, const Eigen::MatrixBase< ConfigOut_t > &qout) const

Public Member Functions inherited from LieGroupBase< SpecialEuclideanOperationTpl< 3, _Scalar, _Options > >
void	integrate (const Eigen::MatrixBase< ConfigIn_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< ConfigOut_t > &qout) const
	Integrate a joint's configuration with a tangent vector during one unit time duration. More...

void	integrateCoeffWiseJacobian (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Jacobian_t > &J) const
	Computes the Jacobian of the integrate operator around zero. More...

void	dIntegrate (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J) const
	Computes the Jacobian of a small variation of the configuration vector or the tangent vector into tangent space at identity. More...

void	dIntegrate (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J, const ArgumentPosition arg) const
	Computes the Jacobian of a small variation of the configuration vector or the tangent vector into tangent space at identity. More...

void	dIntegrate_dq (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J) const
	Computes the Jacobian of a small variation of the configuration vector into tangent space at identity. More...

void	dIntegrate_dv (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J) const
	Computes the Jacobian of a small variation of the tangent vector into tangent space at identity. More...

void	interpolate (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &u, const Eigen::MatrixBase< ConfigOut_t > &qout) const
	Interpolation between two joint's configurations. More...

void	normalize (const Eigen::MatrixBase< Config_t > &qout) const
	Normalize the joint configuration given as input. For instance, the quaternion must be unitary. More...

void	random (const Eigen::MatrixBase< Config_t > &qout) const
	Generate a random joint configuration, normalizing quaternions when necessary. More...

void	randomConfiguration (const Eigen::MatrixBase< ConfigL_t > &lower_pos_limit, const Eigen::MatrixBase< ConfigR_t > &upper_pos_limit, const Eigen::MatrixBase< ConfigOut_t > &qout) const
	Generate a configuration vector uniformly sampled among provided limits. More...

void	difference (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< Tangent_t > &v) const
	Computes the tangent vector that must be integrated during one unit time to go from q0 to q1. More...

void	dDifference (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< JacobianOut_t > &J) const
	Computes the Jacobian of the difference operation with respect to q0 or q1. More...

void	dDifference (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< JacobianOut_t > &J, const ArgumentPosition arg) const
	Computes the Jacobian of the difference operation with respect to q0 or q1. More...

Scalar	squaredDistance (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const
	Squared distance between two joint configurations. More...

Scalar	distance (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const
	Distance between two configurations of the joint. More...

bool	isSameConfiguration (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &prec=Eigen::NumTraits< Scalar >::dummy_precision()) const
	Check if two configurations are equivalent within the given precision. More...

ConfigVector_t	integrate (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Tangent_t > &v) const

ConfigVector_t	interpolate (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &u) const

ConfigVector_t	random () const

ConfigVector_t	randomConfiguration (const Eigen::MatrixBase< ConfigL_t > &lower_pos_limit, const Eigen::MatrixBase< ConfigR_t > &upper_pos_limit) const

TangentVector_t	difference (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const

void	interpolate_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &u, const Eigen::MatrixBase< ConfigOut_t > &qout) const

void	normalize_impl (const Eigen::MatrixBase< Config_t > &qout) const

Scalar	squaredDistance_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1) const

bool	isSameConfiguration_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &prec) const

Index	nq () const

Index	nv () const
	Get dimension of Lie Group tangent space.

ConfigVector_t	neutral () const
	Get neutral element as a vector.

std::string	name () const
	Get name of instance.

SpecialEuclideanOperationTpl< 3, _Scalar, _Options > &	derived ()

const SpecialEuclideanOperationTpl< 3, _Scalar, _Options > &	derived () const

Static Public Member Functions
template<class ConfigL_t , class ConfigR_t , class Tangent_t >
static void	difference_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Eigen::MatrixBase< Tangent_t > &d)

template<class Config_t , class Tangent_t , class JacobianOut_t >
static void	dIntegrate_dq_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J)

template<class Config_t , class Tangent_t , class JacobianOut_t >
static void	dIntegrate_dv_impl (const Eigen::MatrixBase< Config_t > &, const Eigen::MatrixBase< Tangent_t > &v, const Eigen::MatrixBase< JacobianOut_t > &J)

template<class ConfigIn_t , class Velocity_t , class ConfigOut_t >
static void	integrate_impl (const Eigen::MatrixBase< ConfigIn_t > &q, const Eigen::MatrixBase< Velocity_t > &v, const Eigen::MatrixBase< ConfigOut_t > &qout)

template<class Config_t , class Jacobian_t >
static void	integrateCoeffWiseJacobian_impl (const Eigen::MatrixBase< Config_t > &q, const Eigen::MatrixBase< Jacobian_t > &J)

template<class ConfigL_t , class ConfigR_t >
static bool	isSameConfiguration_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1, const Scalar &prec)

static std::string	name ()

static ConfigVector_t	neutral ()

template<class Config_t >
static void	normalize_impl (const Eigen::MatrixBase< Config_t > &qout)

static Index	nq ()

static Index	nv ()
	Get dimension of Lie Group tangent space.

template<class ConfigL_t , class ConfigR_t >
static Scalar	squaredDistance_impl (const Eigen::MatrixBase< ConfigL_t > &q0, const Eigen::MatrixBase< ConfigR_t > &q1)

Additional Inherited Members
Protected Member Functions inherited from LieGroupBase< SpecialEuclideanOperationTpl< 3, _Scalar, _Options > >
	LieGroupBase ()

	LieGroupBase (const LieGroupBase &)

Detailed Description

template<typename _Scalar, int _Options>
struct pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >

SE(3)

Definition at line 387 of file special-euclidean.hpp.

Member Function Documentation

void dDifference_impl	(	const Eigen::MatrixBase< ConfigL_t > &	q0,
		const Eigen::MatrixBase< ConfigR_t > &	q1,
		const Eigen::MatrixBase< JacobianOut_t > &	J
	)		const

inline

Remarkable identity:: \( \frac{\partial\ominus}{\partial q_1} {}^1X_0 = - \frac{\partial\ominus}{\partial q_0} \)

Definition at line 444 of file special-euclidean.hpp.

References pinocchio::exp6(), pinocchio::quaternion::firstOrderNormalize(), pinocchio::quaternion::Jexp3CoeffWise(), pinocchio::Jexp6(), pinocchio::Jlog3(), pinocchio::Jlog6(), pinocchio::quaternion::log3(), pinocchio::normalize(), pinocchio::nq(), pinocchio::nv(), and pinocchio::skew().

static Index nq ( )

inlinestatic

Get dimension of Lie Group vector representation

For instance, for SO(3), the dimension of the vector representation is 4 (quaternion) while the dimension of the tangent space is 3.

Definition at line 404 of file special-euclidean.hpp.

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

special-euclidean.hpp

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

template<typename _Scalar, int _Options> struct pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >

Member Function Documentation

template<typename _Scalar, int _Options>
struct pinocchio::SpecialEuclideanOperationTpl< 3, _Scalar, _Options >