pinocchio  2.4.5
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
liegroup-variant-visitors.hpp
1 //
2 // Copyright (c) 2018 CNRS
3 //
4 
5 #ifndef __pinocchio_lie_group_variant_visitor_hpp__
6 #define __pinocchio_lie_group_variant_visitor_hpp__
7 
8 #include "pinocchio/multibody/liegroup/fwd.hpp"
9 
10 namespace pinocchio
11 {
12 
21  template<typename LieGroupCollection>
22  inline int nq(const LieGroupGenericTpl<LieGroupCollection> & lg);
23 
32  template<typename LieGroupCollection>
33  inline int nv(const LieGroupGenericTpl<LieGroupCollection> & lg);
34 
42  template<typename LieGroupCollection>
43  inline std::string name(const LieGroupGenericTpl<LieGroupCollection> & lg);
44 
52  template<typename LieGroupCollection>
53  inline Eigen::Matrix<typename LieGroupCollection::Scalar,Eigen::Dynamic,1,LieGroupCollection::Options>
54  neutral(const LieGroupGenericTpl<LieGroupCollection> & lg);
55 
64  template<typename LieGroupCollection, class ConfigIn_t, class Tangent_t, class ConfigOut_t>
65  inline void integrate(const LieGroupGenericTpl<LieGroupCollection> & lg,
66  const Eigen::MatrixBase<ConfigIn_t> & q,
67  const Eigen::MatrixBase<Tangent_t> & v,
68  const Eigen::MatrixBase<ConfigOut_t>& qout);
69 
70 }
71 
73 #include "pinocchio/multibody/liegroup/liegroup-variant-visitors.hxx"
74 
75 #endif // ifndef __pinocchio_lie_group_variant_visitor_hpp__
int nv(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointNvVisitor to get the dimension of the joint tangent space...
int nq(const JointModelTpl< Scalar, Options, JointCollectionTpl > &jmodel)
Visit a JointModelTpl through JointNqVisitor to get the dimension of the joint configuration space...
void integrate(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q, const Eigen::MatrixBase< TangentVectorType > &v, const Eigen::MatrixBase< ReturnType > &qout)
Integrate a configuration vector for the specified model for a tangent vector during one unit time...
std::string name(const LieGroupGenericTpl< LieGroupCollection > &lg)
Visit a LieGroupVariant to get the name of it.
Main pinocchio namespace.
Definition: treeview.dox:24
void neutral(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ReturnType > &qout)
Return the neutral configuration element related to the model configuration space.