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Gabriele Buondonno
pinocchio
Commits
b81ef63f
Commit
b81ef63f
authored
Sep 27, 2017
by
Florent Lamiraux
Committed by
Florent Lamiraux florent@laas.fr
Sep 28, 2017
Browse files
Add method name () in OperationBase and derived classes.
parent
79251600
Changes
6
Hide whitespace changes
Inline
Side-by-side
src/multibody/liegroup/cartesian-product.hpp
View file @
b81ef63f
...
...
@@ -41,6 +41,9 @@ namespace se3
typedef
CartesianProductOperation
<
LieGroup1
,
LieGroup2
>
LieGroupDerived
;
SE3_LIE_GROUP_TYPEDEF_TEMPLATE
;
CartesianProductOperation
()
:
lg1_
(),
lg2_
()
{
}
/// Get dimension of Lie Group vector representation
///
/// For instance, for SO(3), the dimension of the vector representation is
...
...
@@ -55,6 +58,12 @@ namespace se3
return
NV
;
}
std
::
string
name
()
const
{
std
::
ostringstream
oss
;
oss
<<
lg1_
.
name
()
<<
"*"
<<
lg2_
.
name
();
return
oss
.
str
();
}
template
<
class
ConfigL_t
,
class
ConfigR_t
,
class
Tangent_t
>
static
void
difference_impl
(
const
Eigen
::
MatrixBase
<
ConfigL_t
>
&
q0
,
const
Eigen
::
MatrixBase
<
ConfigR_t
>
&
q1
,
...
...
@@ -114,6 +123,9 @@ namespace se3
return
LieGroup1
::
isSameConfiguration
(
q0
.
template
head
<
LieGroup1
::
NQ
>(),
q1
.
template
head
<
LieGroup1
::
NQ
>(),
prec
)
+
LieGroup2
::
isSameConfiguration
(
q0
.
template
tail
<
LieGroup2
::
NQ
>(),
q1
.
template
tail
<
LieGroup2
::
NQ
>(),
prec
);
}
private:
LieGroup1
lg1_
;
LieGroup2
lg2_
;
};
// struct CartesianProductOperation
}
// namespace se3
...
...
src/multibody/liegroup/operation-base.hpp
View file @
b81ef63f
...
...
@@ -244,6 +244,9 @@ namespace se3
/// Get dimension of Lie Group tangent space
Index
nv
()
const
;
/// Get name of instance
std
::
string
name
()
const
;
Derived
&
derived
()
{
return
static_cast
<
Derived
&>
(
*
this
);
...
...
src/multibody/liegroup/operation-base.hxx
View file @
b81ef63f
...
...
@@ -242,6 +242,13 @@ namespace se3 {
{
return
Derived
::
nv
();
}
template
<
class
Derived
>
std
::
string
LieGroupOperationBase
<
Derived
>::
name
()
const
{
return
Derived
::
name
();
}
}
// namespace se3
#endif // __se3_lie_group_operation_base_hxx__
src/multibody/liegroup/special-euclidean.hpp
View file @
b81ef63f
...
...
@@ -75,6 +75,11 @@ namespace se3
return
NV
;
}
std
::
string
name
()
const
{
return
std
::
string
(
"SE(2)"
);
}
template
<
class
ConfigL_t
,
class
ConfigR_t
,
class
Tangent_t
>
static
void
difference_impl
(
const
Eigen
::
MatrixBase
<
ConfigL_t
>
&
q0
,
const
Eigen
::
MatrixBase
<
ConfigR_t
>
&
q1
,
...
...
@@ -222,6 +227,11 @@ namespace se3
return
NV
;
}
std
::
string
name
()
const
{
return
std
::
string
(
"SE(3)"
);
}
template
<
class
ConfigL_t
,
class
ConfigR_t
,
class
Tangent_t
>
static
void
difference_impl
(
const
Eigen
::
MatrixBase
<
ConfigL_t
>
&
q0
,
const
Eigen
::
MatrixBase
<
ConfigR_t
>
&
q1
,
...
...
src/multibody/liegroup/special-orthogonal.hpp
View file @
b81ef63f
...
...
@@ -69,6 +69,11 @@ namespace se3
return
NV
;
}
std
::
string
name
()
const
{
return
std
::
string
(
"SO(2)"
);
}
template
<
class
ConfigL_t
,
class
ConfigR_t
,
class
Tangent_t
>
static
void
difference_impl
(
const
Eigen
::
MatrixBase
<
ConfigL_t
>
&
q0
,
const
Eigen
::
MatrixBase
<
ConfigR_t
>
&
q1
,
...
...
@@ -176,6 +181,11 @@ namespace se3
return
NV
;
}
std
::
string
name
()
const
{
return
std
::
string
(
"SO(3)"
);
}
template
<
class
ConfigL_t
,
class
ConfigR_t
,
class
Tangent_t
>
static
void
difference_impl
(
const
Eigen
::
MatrixBase
<
ConfigL_t
>
&
q0
,
const
Eigen
::
MatrixBase
<
ConfigR_t
>
&
q1
,
...
...
src/multibody/liegroup/vector-space.hpp
View file @
b81ef63f
...
...
@@ -69,6 +69,12 @@ namespace se3
return
size_
;
}
std
::
string
name
()
const
{
std
::
ostringstream
oss
;
oss
<<
"R^"
<<
size_
;
return
oss
.
str
();
}
template
<
class
ConfigL_t
,
class
ConfigR_t
,
class
Tangent_t
>
static
void
difference_impl
(
const
Eigen
::
MatrixBase
<
ConfigL_t
>
&
q0
,
const
Eigen
::
MatrixBase
<
ConfigR_t
>
&
q1
,
...
...
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