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hpp::core::TimesFrameFunction Struct Reference

#include <times-frame-function.hh>

Inheritance diagram for hpp::core::TimesFrameFunction:
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Collaboration diagram for hpp::core::TimesFrameFunction:
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Public Types

typedef Eigen::Quaternion
< value_type
Quaternion_t
 
typedef Eigen::Map< const
Quaternion_t
QuaternionMap_t
 

Public Member Functions

 TimesFrameFunction (const Transform3f &M, std::string name)
 
void impl_compute (LiegroupElement &y, vectorIn_t x) const
 \( SE3(y) \gets SE3(x) \times {}^0M_i \) More...
 
void impl_jacobian (matrixOut_t J, vectorIn_t) const
 Returns a constant Jacobian. More...
 

Public Attributes

Transform3f oMi_
 
Quaternion_t oQi_
 

Member Typedef Documentation

Constructor & Destructor Documentation

hpp::core::TimesFrameFunction::TimesFrameFunction ( const Transform3f M,
std::string  name 
)
inline

Member Function Documentation

void hpp::core::TimesFrameFunction::impl_compute ( LiegroupElement y,
vectorIn_t  x 
) const
inline

\( SE3(y) \gets SE3(x) \times {}^0M_i \)

References oMi_, oQi_, and hpp::pinocchio::LiegroupNonconstElementBase< class >::vector().

void hpp::core::TimesFrameFunction::impl_jacobian ( matrixOut_t  J,
vectorIn_t   
) const
inline

Returns a constant Jacobian.

\( J \gets \left( \begin{array}{cc} {}^0R^T_i & - {}^0R^T_i \left[ {}^0t_i\right]_X \\ 0_3 & {}^iR^T_0 \end{array} \right) \)

References oMi_.

Member Data Documentation

Transform3f hpp::core::TimesFrameFunction::oMi_

Referenced by impl_compute(), and impl_jacobian().

Quaternion_t hpp::core::TimesFrameFunction::oQi_

Referenced by impl_compute().