#include "pinocchio/multibody/visitor.hpp"
#include "pinocchio/multibody/model.hpp"
Classes |
struct | se3::IntegrateStep |
struct | se3::InterpolateStep |
struct | se3::DifferentiateStep |
struct | se3::DistanceStep |
struct | se3::RandomConfiguration |
Namespaces |
namespace | se3 |
Functions |
Eigen::VectorXd | se3::integrate (const Model &model, const Eigen::VectorXd &q, const Eigen::VectorXd &v) |
| Integrate a configuration for the specified model for a tangent vector during one unit time.
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Eigen::VectorXd | se3::interpolate (const Model &model, const Eigen::VectorXd &q0, const Eigen::VectorXd &q1, const double u) |
| Interpolate the model between two configurations.
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Eigen::VectorXd | se3::differentiate (const Model &model, const Eigen::VectorXd &q0, const Eigen::VectorXd &q1) |
| Compute the tangent vector that must be integrated during one unit time to go from q0 to q1.
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Eigen::VectorXd | se3::distance (const Model &model, const Eigen::VectorXd &q0, const Eigen::VectorXd &q1) |
| Distance between two configuration vectors.
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Eigen::VectorXd | se3::randomConfiguration (const Model &model, const Eigen::VectorXd &lowerLimits, const Eigen::VectorXd &upperLimits) |
| Generate a configuration vector uniformly sampled among provided limits.
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Eigen::VectorXd | se3::randomConfiguration (const Model &model) |
| Generate a configuration vector uniformly sampled among the joint limits of the specified Model.
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