#include <times-frame-function.hh>
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| TimesFrameFunction (const Transform3f &M, std::string name) |
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void | impl_compute (LiegroupElement &y, vectorIn_t x) const |
| \( SE3(y) \gets SE3(x) \times {}^0M_i \) More...
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void | impl_jacobian (matrixOut_t J, vectorIn_t) const |
| Returns a constant Jacobian. More...
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virtual | ~DifferentiableFunction () |
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LiegroupElement | operator() (vectorIn_t argument) const |
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void | value (LiegroupElement &result, vectorIn_t argument) const |
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void | jacobian (matrixOut_t jacobian, vectorIn_t argument) const |
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const ArrayXb & | activeParameters () const |
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const ArrayXb & | activeDerivativeParameters () const |
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size_type | inputSize () const |
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size_type | inputDerivativeSize () const |
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LiegroupSpacePtr_t | outputSpace () const |
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size_type | outputSize () const |
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size_type | outputDerivativeSize () const |
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const std::string & | name () const |
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virtual std::ostream & | print (std::ostream &o) const |
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std::string | context () const |
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void | context (const std::string &c) |
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void | finiteDifferenceForward (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const |
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void | finiteDifferenceCentral (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const |
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◆ Quaternion_t
◆ QuaternionMap_t
◆ TimesFrameFunction()
hpp::core::TimesFrameFunction::TimesFrameFunction |
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const Transform3f & |
M, |
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std::string |
name |
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inline |
◆ impl_compute()
◆ impl_jacobian()
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_.
◆ oMi_
◆ oQi_