Public Types | Public Member Functions | Public Attributes | List of all members
hpp::core::TimesFrameFunction Struct Reference

#include <times-frame-function.hh>

Inheritance diagram for hpp::core::TimesFrameFunction:
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Collaboration diagram for hpp::core::TimesFrameFunction:
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Public Types

typedef Eigen::Quaternion< value_typeQuaternion_t
 
typedef Eigen::Map< const Quaternion_tQuaternionMap_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 Member Functions inherited from hpp::constraints::DifferentiableFunction
virtual ~DifferentiableFunction ()
 
LiegroupElement operator() (vectorIn_t argument) const
 
void value (LiegroupElement &result, vectorIn_t argument) const
 
void jacobian (matrixOut_t jacobian, vectorIn_t argument) const
 
const ArrayXbactiveParameters () const
 
const ArrayXbactiveDerivativeParameters () const
 
size_type inputSize () const
 
size_type inputDerivativeSize () const
 
LiegroupSpacePtr_t outputSpace () const
 
size_type outputSize () const
 
size_type outputDerivativeSize () const
 
const std::string & name () const
 
virtual std::ostream & print (std::ostream &o) const
 
std::string context () const
 
void context (const std::string &c)
 
void finiteDifferenceForward (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const
 
void finiteDifferenceCentral (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const
 

Public Attributes

Transform3f oMi_
 
Quaternion_t oQi_
 

Additional Inherited Members

- Protected Member Functions inherited from hpp::constraints::DifferentiableFunction
 DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, size_type sizeOutput, std::string name=std::string())
 
 DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, const LiegroupSpacePtr_t &outputSpace, std::string name=std::string())
 
- Protected Attributes inherited from hpp::constraints::DifferentiableFunction
size_type inputSize_
 
size_type inputDerivativeSize_
 
LiegroupSpacePtr_t outputSpace_
 
ArrayXb activeParameters_
 
ArrayXb activeDerivativeParameters_
 

Member Typedef Documentation

◆ Quaternion_t

◆ QuaternionMap_t

Constructor & Destructor Documentation

◆ TimesFrameFunction()

hpp::core::TimesFrameFunction::TimesFrameFunction ( const Transform3f M,
std::string  name 
)
inline

Member Function Documentation

◆ impl_compute()

void hpp::core::TimesFrameFunction::impl_compute ( LiegroupElement y,
vectorIn_t  x 
) const
inlinevirtual

\( SE3(y) \gets SE3(x) \times {}^0M_i \)

Implements hpp::constraints::DifferentiableFunction.

References oMi_, oQi_, and hpp::pinocchio::LiegroupNonconstElementBase< class >::vector().

◆ impl_jacobian()

void hpp::core::TimesFrameFunction::impl_jacobian ( matrixOut_t  J,
vectorIn_t   
) const
inlinevirtual

Returns a constant Jacobian.

\( J \gets \left( \begin{array}{cc} {}^0R^T_i & - {}^0R^T_i \left[ {}^0t_i\right]_X \\ 0_3 & {}^iR^T_0 \end{array} \right) \)

Implements hpp::constraints::DifferentiableFunction.

References oMi_.

Member Data Documentation

◆ oMi_

Transform3f hpp::core::TimesFrameFunction::oMi_

Referenced by impl_compute(), and impl_jacobian().

◆ oQi_

Quaternion_t hpp::core::TimesFrameFunction::oQi_

Referenced by impl_compute().