17 #ifndef HPP_PINOCCHIO_LIEGROUP_ELEMENT_HH
18 # define HPP_PINOCCHIO_LIEGROUP_ELEMENT_HH
31 template <
typename vector_type>
38 template <
typename Derived>
50 template <
typename Derived>
57 template <
typename vector_type2>
89 template <
typename vector_type2>
96 template <
typename vector_type2>
103 template <
typename Derived>
107 value_ (const_cast<Derived&>(value.derived())),
121 template <
typename vector_type>
148 template <
typename vector_type2>
156 template <
typename vector_type2>
161 template <
typename vector_type2>
190 template <
typename vector_type2>
199 template <
typename Vector>
202 EIGEN_STATIC_ASSERT_VECTOR_ONLY(Vector);
203 assert (this->
space_->nq() == v.derived().size());
204 this->
value_.noalias() = v.derived();
217 template <
typename vector_type>
227 template <
typename vector_type1,
typename vector_type2>
232 template <
typename vector_type>
235 template <
typename vector_type>
238 os <<
"Lie group element in " << *(e.
space ())
239 <<
" represented by vector (" << e. vector ().transpose () <<
")";
Definition: liegroup-element.hh:123
void setNeutral()
Set element to neutral element.
Definition: liegroup-element.hh:181
LiegroupElementBase(const vector_type &value)
Definition: liegroup-element.hh:143
LiegroupElementBase(LiegroupElementBase< vector_type2 > &other)
Casting operator from LiegroupElement to LiegroupElementRef
Definition: liegroup-element.hh:162
const vector_type & vector() const
Const vector representation.
Definition: liegroup-element.hh:169
LiegroupElementBase(const LiegroupElementConstBase< vector_type2 > &other)
Definition: liegroup-element.hh:149
LiegroupElementConstBase< vector_type > Base
Definition: liegroup-element.hh:125
LiegroupElementBase()
Constructor of trivial element.
Definition: liegroup-element.hh:166
vector_type & vector()
Modifiable vector representation.
Definition: liegroup-element.hh:175
LiegroupElementBase(const LiegroupSpacePtr_t &space)
Definition: liegroup-element.hh:136
LiegroupElementBase & operator=(const LiegroupElementConstBase< vector_type2 > &other)
Assignment from another LiegroupElement.
Definition: liegroup-element.hh:191
LiegroupElementBase(const vector_type &value, const LiegroupSpacePtr_t &space)
Definition: liegroup-element.hh:130
LiegroupElementBase & operator+=(vectorIn_t v)
Inplace integration of a velocity vector.
LiegroupElementBase(const LiegroupElementBase< vector_type2 > &other)
Definition: liegroup-element.hh:157
Definition: liegroup-element.hh:33
LiegroupElementConstBase(const Eigen::EigenBase< Derived > &value, const LiegroupSpacePtr_t &space, void *)
Definition: liegroup-element.hh:104
void check() const
Definition: liegroup-element.hh:83
vector_type value_
Definition: liegroup-element.hh:111
size_type size() const
Size of the vector representation.
Definition: liegroup-element.hh:76
const LiegroupSpacePtr_t & space() const
get reference to vector of Lie groups
Definition: liegroup-element.hh:64
LiegroupElementConstBase(const LiegroupElementConstBase< vector_type2 > &other)
Definition: liegroup-element.hh:58
bool operator!=(const LiegroupElementConstBase< vector_type2 > &other)
Equality operator.
Definition: liegroup-element.hh:97
bool operator==(const LiegroupElementConstBase< vector_type2 > &other)
Equality operator.
Definition: liegroup-element.hh:90
const vector_type & vector() const
Const vector representation.
Definition: liegroup-element.hh:70
LiegroupElementConstBase(const Eigen::EigenBase< Derived > &value)
Definition: liegroup-element.hh:51
LiegroupSpacePtr_t space_
Definition: liegroup-element.hh:112
LiegroupElementConstBase(const Eigen::EigenBase< Derived > &value, const LiegroupSpacePtr_t &liegroupSpace)
Definition: liegroup-element.hh:39
Definition: liegroup-space.hh:94
vector_t operator-(const LiegroupElementConstBase< vector_type1 > &e1, const LiegroupElementConstBase< vector_type2 > &e2)
LiegroupElement operator+(const LiegroupElementConstBase< vector_type > &e, vectorIn_t v)
Eigen::Matrix< value_type, Eigen::Dynamic, 1 > vector_t
Definition: fwd.hh:75
std::ostream & operator<<(std::ostream &os, const hpp::pinocchio::Device &device)
Definition: device.hh:359
shared_ptr< LiegroupSpace > LiegroupSpacePtr_t
Definition: fwd.hh:136
matrix_t::Index size_type
Definition: fwd.hh:84
Eigen::Ref< const vector_t > vectorIn_t
Definition: fwd.hh:80
vector_t log(const LiegroupElementConstBase< vector_type > &lge)
Compute the log as a tangent vector of a Lie group element.
Utility functions.
Definition: body.hh:30
Definition: collision-object.hh:32