5 #ifndef __pinocchio_lie_group_generic_hpp__ 6 #define __pinocchio_lie_group_generic_hpp__ 8 #include "pinocchio/multibody/liegroup/liegroup-base.hpp" 9 #include "pinocchio/multibody/liegroup/liegroup-variant-visitors.hpp" 13 template<
typename LieGroupCollection>
struct LieGroupGenericTpl;
15 template<
typename LieGroupCollection>
18 typedef typename LieGroupCollection::Scalar Scalar;
20 Options = LieGroupCollection::Options,
26 template<
typename LieGroupCollection>
28 :
LieGroupBase< LieGroupGenericTpl<LieGroupCollection> >, LieGroupCollection::LieGroupVariant
30 typedef typename LieGroupCollection::LieGroupVariant Base;
31 typedef typename LieGroupCollection::LieGroupVariant LieGroupVariant;
33 typedef typename LieGroupCollection::Scalar Scalar;
34 enum { Options = LieGroupCollection::Options };
36 template<
typename LieGroupDerived>
38 : Base(lg_base.derived())
41 template<
typename LieGroup>
48 static_cast<Base&
>(*this) = other.toVariant();
52 const LieGroupVariant & toVariant()
const 53 {
return static_cast<const LieGroupVariant &
>(*this); }
55 LieGroupVariant & toVariant()
56 {
return static_cast<LieGroupVariant &
>(*this); }
60 return boost::apply_visitor(visitor::LieGroupEqual<Scalar, Options>(), toVariant(), other.toVariant());
63 int nq()
const { return ::pinocchio::nq(*
this); }
64 int nv()
const { return ::pinocchio::nv(*
this); }
68 return isEqual_impl(other);
73 return this->isDifferent_impl(other);
76 std::string
name()
const 78 return LieGroupNameVisitor::run(*
this);
84 #endif // ifndef __pinocchio_lie_group_generic_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...
std::string name(const LieGroupGenericTpl< LieGroupCollection > &lg)
Visit a LieGroupVariant to get the name of it.
Main pinocchio namespace.
Common traits structure to fully define base classes for CRTP.