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| | ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) |
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| | PinocchioLieGroup () |
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| | PinocchioLieGroup (const LieGroup &lg) |
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| | PinocchioLieGroup (const PinocchioLieGroup &lg)=default |
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| | PinocchioLieGroup (PinocchioLieGroup &&lg)=default |
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| template<typename... Args> |
| | PinocchioLieGroup (Args &&...args) |
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| | operator LieGroup () const |
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| bool | isNormalized (const ConstVectorRef &x) const |
| | Check if the input vector x is a viable element of the manifold.
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| int | ndx () const |
| | Get manifold tangent space dimension.
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| int | nx () const |
| | Get manifold representation dimension.
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| | ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) |
| | Scalar type.
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| | ManifoldAbstractTpl (int nx, int ndx) |
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| virtual | ~ManifoldAbstractTpl ()=default |
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| int | nx () const |
| | Get manifold representation dimension.
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| int | ndx () const |
| | Get manifold tangent space dimension.
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| VectorXs | neutral () const |
| | Get the neutral element \(e \in M\) from the manifold (if this makes sense).
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| void | neutral (VectorRef out) const |
| | Get the neutral element \(e \in M\) from the manifold (if this makes sense).
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| VectorXs | rand () const |
| | Sample a random point \(x \in M\) on the manifold.
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| void | rand (VectorRef out) const |
| | Sample a random point \(x \in M\) on the manifold.
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| TangentSpaceType | tangentSpace () const |
| | Return an object representing the tangent space as a manifold.
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| void | integrate (const ConstVectorRef &x, const ConstVectorRef &v, VectorRef out) const |
| | Manifold integration operation \(x \oplus v\).
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| void | Jintegrate (const ConstVectorRef &x, const ConstVectorRef &v, MatrixRef Jout, int arg) const |
| | Jacobian of the integation operation.
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| void | JintegrateTransport (const ConstVectorRef &x, const ConstVectorRef &v, MatrixRef Jout, int arg) const |
| | Perform the parallel transport operation.
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| void | difference (const ConstVectorRef &x0, const ConstVectorRef &x1, VectorRef out) const |
| | Manifold difference/retraction operation \(x_1 \ominus x_0\).
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| void | Jdifference (const ConstVectorRef &x0, const ConstVectorRef &x1, MatrixRef Jout, int arg) const |
| | Jacobian of the retraction operation.
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| void | interpolate (const ConstVectorRef &x0, const ConstVectorRef &x1, const Scalar &u, VectorRef out) const |
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| VectorXs | integrate (const ConstVectorRef &x, const ConstVectorRef &v) const |
| | Manifold integration operation \(x \oplus v\).
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| VectorXs | difference (const ConstVectorRef &x0, const ConstVectorRef &x1) const |
| | Manifold difference/retraction operation \(x_1 \ominus x_0\).
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| VectorXs | interpolate (const ConstVectorRef &x0, const ConstVectorRef &x1, const Scalar &u) const |
| | Interpolation operation.
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| void | integrate_impl (const ConstVectorRef &x, const ConstVectorRef &v, VectorRef out) const |
| | Perform the manifold integration operation.
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| void | difference_impl (const ConstVectorRef &x0, const ConstVectorRef &x1, VectorRef vout) const |
| | Implementation of the manifold retraction operation.
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| void | Jintegrate_impl (const ConstVectorRef &x, const ConstVectorRef &v, MatrixRef Jout, int arg) const |
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| void | JintegrateTransport_impl (const ConstVectorRef &x, const ConstVectorRef &v, MatrixRef Jout, int arg) const |
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| void | Jdifference_impl (const ConstVectorRef &x0, const ConstVectorRef &x1, MatrixRef Jout, int arg) const |
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| virtual void | interpolate_impl (const ConstVectorRef &x0, const ConstVectorRef &x1, const Scalar &u, VectorRef out) const |
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| virtual void | neutral_impl (VectorRef out) const |
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| virtual void | rand_impl (VectorRef out) const |
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| virtual void | interpolate_impl (const ConstVectorRef &x0, const ConstVectorRef &x1, const Scalar &u, VectorRef out) const |
| | Interpolation operation.
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template<typename G, std::enable_if_t<
is_pinocchio_lie_group< G > > * = nullptr>
struct aligator::PinocchioLieGroup< G, >
Wrap a Pinocchio Lie group into a ManifoldAbstractTpl object.
Definition at line 23 of file pinocchio-groups.hpp.