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pinocchio
2.4.5
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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5 #ifndef __pinocchio_lie_group_variant_visitor_hpp__
6 #define __pinocchio_lie_group_variant_visitor_hpp__
8 #include "pinocchio/multibody/liegroup/fwd.hpp"
21 template<
typename LieGroupCollection>
22 inline int nq(
const LieGroupGenericTpl<LieGroupCollection> & lg);
32 template<
typename LieGroupCollection>
33 inline int nv(
const LieGroupGenericTpl<LieGroupCollection> & lg);
42 template<
typename LieGroupCollection>
43 inline std::string
name(
const LieGroupGenericTpl<LieGroupCollection> & lg);
52 template<
typename LieGroupCollection>
53 inline Eigen::Matrix<typename LieGroupCollection::Scalar,Eigen::Dynamic,1,LieGroupCollection::Options>
54 neutral(
const LieGroupGenericTpl<LieGroupCollection> & lg);
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);
73 #include "pinocchio/multibody/liegroup/liegroup-variant-visitors.hxx"
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.
std::string name(const LieGroupGenericTpl< LieGroupCollection > &lg)
Visit a LieGroupVariant to get the name of it.
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.
void neutral(const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ReturnType > &qout)
Return the neutral configuration element related to the model configuration space.
Main pinocchio namespace.