29 #ifndef HPP_PINOCCHIO_LIEGROUP_HH
30 #define HPP_PINOCCHIO_LIEGROUP_HH
32 #include <pinocchio/multibody/joint/fwd.hpp>
43 typedef ::pinocchio::JointModelCompositeTpl<value_type, 0, JointCollectionTpl>
53 template <
typename Jo
intModel>
66 template <
typename Jo
intModel>
74 template <
typename Scalar,
int Options,
int Axis>
76 ::pinocchio::JointModelRevoluteTpl<Scalar, Options, Axis> > {
79 template <
typename Scalar,
int Options,
int Axis>
80 struct RnxSOnLieGroupMap::operation<
81 ::pinocchio::JointModelRevoluteUnboundedTpl<Scalar, Options, Axis> > {
82 typedef liegroup::SpecialOrthogonalOperation<2> type;
84 template <
typename Scalar,
int Options>
85 struct RnxSOnLieGroupMap::operation<
86 ::pinocchio::JointModelRevoluteUnalignedTpl<Scalar, Options> > {
87 typedef liegroup::VectorSpaceOperation<1, true> type;
89 #if PINOCCHIO_VERSION_AT_LEAST(2, 1, 5)
90 template <
typename Scalar,
int Options>
91 struct RnxSOnLieGroupMap::operation<
92 ::pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar, Options> > {
93 typedef liegroup::SpecialOrthogonalOperation<2> type;
98 template <
typename Scalar,
int Options,
int Axis>
99 struct RnxSOnLieGroupMap::operation<
100 ::pinocchio::JointModelPrismaticTpl<Scalar, Options, Axis> > {
101 typedef liegroup::VectorSpaceOperation<1, false> type;
103 template <
typename Scalar,
int Options>
104 struct RnxSOnLieGroupMap::operation<
105 ::pinocchio::JointModelPrismaticUnalignedTpl<Scalar, Options> > {
106 typedef liegroup::VectorSpaceOperation<1, false> type;
108 template <
typename Scalar,
int Options>
109 struct RnxSOnLieGroupMap::operation<
110 ::pinocchio::JointModelTranslationTpl<Scalar, Options> > {
111 typedef liegroup::VectorSpaceOperation<3, false> type;
115 template <
typename Scalar,
int Options>
116 struct RnxSOnLieGroupMap::operation<
117 ::pinocchio::JointModelSphericalTpl<Scalar, Options> > {
118 typedef liegroup::SpecialOrthogonalOperation<3> type;
120 template <
typename Scalar,
int Options>
121 struct RnxSOnLieGroupMap::operation<
122 ::pinocchio::JointModelSphericalZYXTpl<Scalar, Options> > {
123 typedef liegroup::VectorSpaceOperation<3, true> type;
127 template <
typename Scalar,
int Options>
128 struct RnxSOnLieGroupMap::operation<
129 ::pinocchio::JointModelFreeFlyerTpl<Scalar, Options> > {
130 typedef liegroup::CartesianProductOperation<
131 liegroup::VectorSpaceOperation<3, false>,
132 liegroup::SpecialOrthogonalOperation<3> >
135 template <
typename Scalar,
int Options>
136 struct RnxSOnLieGroupMap::operation<
137 ::pinocchio::JointModelPlanarTpl<Scalar, Options> > {
138 typedef liegroup::CartesianProductOperation<
139 liegroup::VectorSpaceOperation<2, false>,
140 liegroup::SpecialOrthogonalOperation<2> >
148 template <
typename Scalar,
int Options,
int Axis>
149 struct DefaultLieGroupMap::operation<
150 ::pinocchio::JointModelRevoluteTpl<Scalar, Options, Axis> > {
151 typedef liegroup::VectorSpaceOperation<1, true> type;
153 template <
typename Scalar,
int Options,
int Axis>
154 struct DefaultLieGroupMap::operation<
155 ::pinocchio::JointModelRevoluteUnboundedTpl<Scalar, Options, Axis> > {
156 typedef liegroup::SpecialOrthogonalOperation<2> type;
158 template <
typename Scalar,
int Options>
159 struct DefaultLieGroupMap::operation<
160 ::pinocchio::JointModelRevoluteUnalignedTpl<Scalar, Options> > {
161 typedef liegroup::VectorSpaceOperation<1, true> type;
163 #if PINOCCHIO_VERSION_AT_LEAST(2, 1, 5)
164 template <
typename Scalar,
int Options>
165 struct DefaultLieGroupMap::operation<
166 ::pinocchio::JointModelRevoluteUnboundedUnalignedTpl<Scalar, Options> > {
167 typedef liegroup::SpecialOrthogonalOperation<2> type;
172 template <
typename Scalar,
int Options,
int Axis>
173 struct DefaultLieGroupMap::operation<
174 ::pinocchio::JointModelPrismaticTpl<Scalar, Options, Axis> > {
175 typedef liegroup::VectorSpaceOperation<1, false> type;
177 template <
typename Scalar,
int Options>
178 struct DefaultLieGroupMap::operation<
179 ::pinocchio::JointModelPrismaticUnalignedTpl<Scalar, Options> > {
180 typedef liegroup::VectorSpaceOperation<1, false> type;
182 template <
typename Scalar,
int Options>
183 struct DefaultLieGroupMap::operation<
184 ::pinocchio::JointModelTranslationTpl<Scalar, Options> > {
185 typedef liegroup::VectorSpaceOperation<3, false> type;
189 template <
typename Scalar,
int Options>
190 struct DefaultLieGroupMap::operation<
191 ::pinocchio::JointModelSphericalTpl<Scalar, Options> > {
192 typedef liegroup::SpecialOrthogonalOperation<3> type;
194 template <
typename Scalar,
int Options>
195 struct DefaultLieGroupMap::operation<
196 ::pinocchio::JointModelSphericalZYXTpl<Scalar, Options> > {
197 typedef liegroup::VectorSpaceOperation<3, true> type;
201 template <
typename Scalar,
int Options>
202 struct DefaultLieGroupMap::operation<
203 ::pinocchio::JointModelFreeFlyerTpl<Scalar, Options> > {
204 typedef liegroup::SpecialEuclideanOperation<3> type;
206 template <
typename Scalar,
int Options>
207 struct DefaultLieGroupMap::operation<
208 ::pinocchio::JointModelPlanarTpl<Scalar, Options> > {
209 typedef liegroup::SpecialEuclideanOperation<2> type;
::pinocchio::JointModelCompositeTpl< value_type, 0, JointCollectionTpl > JointModelComposite
Definition: liegroup.hh:44
RnxSOnLieGroupMap LieGroupTpl HPP_PINOCCHIO_DEPRECATED
Definition: liegroup.hh:57
Utility functions.
Definition: body.hh:39
Definition: collision-object.hh:40
Definition: liegroup.hh:67
Definition: liegroup.hh:65
Definition: liegroup.hh:54
Definition: liegroup.hh:52
Definition: vector-space.hh:60