Classes | Typedefs | Functions
Lie group

Configurations of robots, as well as some values like the position of a robot joint with respect to a fixed frame belong to differential manifolds that have the structure of Lie groups. More...

Classes

class  hpp::pinocchio::LiegroupElementBase< vector_type >
 
class  hpp::pinocchio::LiegroupNonconstElementBase< vector_type >
 
class  hpp::pinocchio::LiegroupSpace
 Cartesian product of elementary Lie groups. More...
 

Typedefs

typedef LiegroupElementBase< vectorIn_thpp::pinocchio::LiegroupConstElementRef
 
typedef LiegroupNonconstElementBase< vector_thpp::pinocchio::LiegroupElement
 Element of a Lie group. More...
 
typedef LiegroupNonconstElementBase< vectorOut_thpp::pinocchio::LiegroupElementRef
 
typedef boost::variant< liegroup::VectorSpaceOperation< Eigen::Dynamic, false >, liegroup::VectorSpaceOperation< 1, true >, liegroup::VectorSpaceOperation< 1, false >, liegroup::VectorSpaceOperation< 2, false >, liegroup::VectorSpaceOperation< 3, false >, liegroup::VectorSpaceOperation< 3, true >, liegroup::CartesianProductOperation< liegroup::VectorSpaceOperation< 3, false >, liegroup::SpecialOrthogonalOperation< 3 > >, liegroup::CartesianProductOperation< liegroup::VectorSpaceOperation< 2, false >, liegroup::SpecialOrthogonalOperation< 2 > >, liegroup::SpecialOrthogonalOperation< 2 >, liegroup::SpecialOrthogonalOperation< 3 >, se3::SpecialEuclideanOperation< 2 >, se3::SpecialEuclideanOperation< 3 > > hpp::pinocchio::LiegroupType
 Elementary Lie groups. More...
 

Functions

template<typename vector_type >
LiegroupElement hpp::pinocchio::operator+ (const LiegroupElementBase< vector_type > &e, vectorIn_t v)
 Integration of a velocity vector from a configuration. More...
 
template<typename vector_type1 , typename vector_type2 >
vector_t hpp::pinocchio::operator- (const LiegroupElementBase< vector_type1 > &e1, const LiegroupElementBase< vector_type2 > &e2)
 Difference between two configurations. More...
 
std::ostream & hpp::pinocchio::operator<< (std::ostream &os, const LiegroupSpace &space)
 Writing in a stream. More...
 
hpp::pinocchio::LiegroupSpacePtr_t boost::operator* (const hpp::pinocchio::LiegroupSpaceConstPtr_t &sp1, const hpp::pinocchio::LiegroupSpaceConstPtr_t &sp2)
 Cartesian product between Lie groups. More...
 
hpp::pinocchio::LiegroupSpacePtr_t boost::operator^ (const hpp::pinocchio::LiegroupSpaceConstPtr_t &sp, hpp::pinocchio::size_type n)
 Cartesian power by an integer. More...
 

Detailed Description

Configurations of robots, as well as some values like the position of a robot joint with respect to a fixed frame belong to differential manifolds that have the structure of Lie groups.

These manifolds are the cartesian products of the following elementary Lie groups

Typedef Documentation

◆ LiegroupConstElementRef

◆ LiegroupElement

Element of a Lie group.

See class LiegroupSpace.

◆ LiegroupElementRef

◆ LiegroupType

Elementary Lie groups.

Function Documentation

◆ operator*()

Cartesian product between Lie groups.

◆ operator+()

template<typename vector_type >
LiegroupElement hpp::pinocchio::operator+ ( const LiegroupElementBase< vector_type > &  e,
vectorIn_t  v 
)

Integration of a velocity vector from a configuration.

Parameters
eelement of the Lie group,
velement of the tangent space of the Lie group.
Returns
the element of the Lie group resulting from the integration

By extension of the vector space case, we represent the integration of a constant velocity during unit time by an addition

◆ operator-()

template<typename vector_type1 , typename vector_type2 >
vector_t hpp::pinocchio::operator- ( const LiegroupElementBase< vector_type1 > &  e1,
const LiegroupElementBase< vector_type2 > &  e2 
)

Difference between two configurations.

Parameters
e1,e2elements of the Lie group,
Returns
the velocity that integrated from e2 yiels e1

By extension of the vector space case, we represent the integration of a constant velocity during unit time by an addition

◆ operator<<()

std::ostream& hpp::pinocchio::operator<< ( std::ostream &  os,
const LiegroupSpace space 
)
inline

Writing in a stream.

References hpp::pinocchio::LiegroupSpace::name().

◆ operator^()

Cartesian power by an integer.