joint-configuration.hpp File Reference
#include "pinocchio/multibody/visitor.hpp"
#include "pinocchio/multibody/model.hpp"
Include dependency graph for joint-configuration.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.
Eigen::VectorXd se3::interpolate (const Model &model, const Eigen::VectorXd &q0, const Eigen::VectorXd &q1, const double u)
 Interpolate the model between two configurations.
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.
Eigen::VectorXd se3::distance (const Model &model, const Eigen::VectorXd &q0, const Eigen::VectorXd &q1)
 Distance between two configuration vectors.
Eigen::VectorXd se3::randomConfiguration (const Model &model, const Eigen::VectorXd &lowerLimits, const Eigen::VectorXd &upperLimits)
 Generate a configuration vector uniformly sampled among provided limits.
Eigen::VectorXd se3::randomConfiguration (const Model &model)
 Generate a configuration vector uniformly sampled among the joint limits of the specified Model.