hpp-constraints 6.0.0
Definition of basic geometric constraints for motion planning
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Classes | |
struct | Eigen::BlockIndex |
class | Eigen::MatrixBlockView< _ArgType, _Rows, _Cols, _allRows, _allCols > |
class | Eigen::MatrixBlocks< _allRows, _allCols > |
class | Eigen::MatrixBlocksBase< Derived > |
Typedefs | |
typedef Eigen::MatrixBlocks< false, true > | Eigen::RowBlockIndices |
typedef Eigen::MatrixBlocks< true, false > | Eigen::ColBlockIndices |
Functions | |
template<typename Derived > | |
std::ostream & | Eigen::operator<< (std::ostream &os, const MatrixBlocksBase< Derived > &mbi) |
template<typename Derived > | |
void | hpp::constraints::logSO3 (const matrix3_t &R, value_type &theta, Eigen::MatrixBase< Derived > const &result) |
template<typename Derived > | |
void | hpp::constraints::JlogSO3 (const value_type &theta, const Eigen::MatrixBase< Derived > &log, matrix3_t &Jlog) |
template<typename Derived > | |
void | hpp::constraints::logSE3 (const Transform3s &M, Eigen::MatrixBase< Derived > &result) |
template<typename Derived > | |
void | hpp::constraints::JlogSE3 (const Transform3s &M, Eigen::MatrixBase< Derived > const &Jlog) |
template<typename Derived1 , typename Derived2 > | |
void | hpp::constraints::matrixToQuat (const Eigen::MatrixBase< Derived1 > &M, Eigen::MatrixBase< Derived2 > const &q) |
template<typename Derived > | |
void | hpp::constraints::se3ToConfig (const Transform3s &M, Eigen::MatrixBase< Derived > const &q) |
typedef Eigen::MatrixBlocks<true, false> Eigen::ColBlockIndices |
typedef Eigen::MatrixBlocks<false, true> Eigen::RowBlockIndices |
void hpp::constraints::JlogSE3 | ( | const Transform3s & | M, |
Eigen::MatrixBase< Derived > const & | Jlog | ||
) |
void hpp::constraints::JlogSO3 | ( | const value_type & | theta, |
const Eigen::MatrixBase< Derived > & | log, | ||
matrix3_t & | Jlog | ||
) |
Compute jacobian of function log of rotation matrix in SO(3)
Let us consider a matrix
theta | angle of rotation ![]() ![]() |
log | 3d vector ![]() |
Jlog | matrix ![]() |
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inline |
Compute log of rigid-body transform
M | rigid body transform, |
theta | angle of rotation, |
result | 6d vector ![]() ![]() ![]() |
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inline |
Compute log of rotation matrix as a 3d vector
R | rotation matrix in SO(3), |
theta | angle of rotation, |
result | 3d vector ![]() ![]() |
void hpp::constraints::matrixToQuat | ( | const Eigen::MatrixBase< Derived1 > & | M, |
Eigen::MatrixBase< Derived2 > const & | q | ||
) |
std::ostream & Eigen::operator<< | ( | std::ostream & | os, |
const MatrixBlocksBase< Derived > & | mbi | ||
) |
void hpp::constraints::se3ToConfig | ( | const Transform3s & | M, |
Eigen::MatrixBase< Derived > const & | q | ||
) |