#include <times-frame-function.hh>
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_ |
typedef Eigen::Quaternion<value_type> hpp::core::TimesFrameFunction::Quaternion_t |
typedef Eigen::Map<const Quaternion_t> hpp::core::TimesFrameFunction::QuaternionMap_t |
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inline |
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inline |
\( SE3(y) \gets SE3(x) \times {}^0M_i \)
References oMi_, oQi_, and hpp::pinocchio::LiegroupNonconstElementBase< class >::vector().
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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_.
Transform3f hpp::core::TimesFrameFunction::oMi_ |
Referenced by impl_compute(), and impl_jacobian().
Quaternion_t hpp::core::TimesFrameFunction::oQi_ |
Referenced by impl_compute().