void se3Action_impl(const SE3Tpl<S2,O2> & m, MotionDense<D2> & v) const { v.angular().noalias() = m.rotation().col(2) * m_theta_dot; v.linear().noalias() = m.translation().cross(v.angular()); v.linear() += m.rotation().col(0) * m_x_dot; v.linear() += m.rotation().col(1) * m_y_dot; }
EIGEN_STRONG_INLINE void motionAction(const MotionDense<M1> & v, MotionDense<M2> & mout) const { // Linear CartesianAxis3::alphaCross(-w,v.linear(),mout.linear()); // Angular CartesianAxis3::alphaCross(-w,v.angular(),mout.angular()); }
void se3ActionInverse_impl(const SE3Tpl<S2,O2> & m, MotionDense<D2> & v) const { // Linear // TODO: use v.angular() as temporary variable Vector3 v3_tmp; CartesianAxis3::alphaCross(w,m.translation(),v3_tmp); v.linear().noalias() = m.rotation().transpose() * v3_tmp; // Angular v.angular().noalias() = m.rotation().transpose().col(axis) * w; }
void se3ActionInverse_impl(const SE3Tpl<S2,O2> & m, MotionDense<D2> & v) const { // Linear // TODO: use v.angular() as temporary variable Vector3 v3_tmp; AxisZ::alphaCross(m_theta_dot,m.translation(),v3_tmp); v3_tmp[0] += m_x_dot; v3_tmp[1] += m_y_dot; v.linear().noalias() = m.rotation().transpose() * v3_tmp; // Angular v.angular().noalias() = m.rotation().transpose().col(2) * m_theta_dot; }
DenseBase motionAction(const MotionDense<MotionDerived> & m) const { const typename MotionDerived::ConstLinearType v = m.linear(); const typename MotionDerived::ConstAngularType w = m.angular(); DenseBase res(DenseBase::Zero()); res(0,1) = -w[2]; res(0,2) = v[1]; res(1,0) = w[2]; res(1,2) = -v[0]; res(2,0) = -w[1]; res(2,1) = w[0]; res(3,2) = w[1]; res(4,2) = -w[0]; return res; }
DenseBase motionAction(const MotionDense<MotionDerived> & m) const { DenseBase res; MotionRef<DenseBase> v(res); v = m.cross(Axis()); return res; }
void motionAction(const MotionDense<M1> & v, MotionDense<M2> & mout) const { // Linear AxisZ::alphaCross(-m_theta_dot,v.linear(),mout.linear()); typename M1::ConstAngularType w_in = v.angular(); typename M2::LinearType v_out = mout.linear(); v_out[0] -= w_in[2] * m_y_dot; v_out[1] += w_in[2] * m_x_dot; v_out[2] += -w_in[1] * m_x_dot + w_in[0] * m_y_dot ; // Angular AxisZ::alphaCross(-m_theta_dot,v.angular(),mout.angular()); }
void setTo(MotionDense<MotionDerived> & other) const { other.linear() << m_x_dot, m_y_dot, (Scalar)0; other.angular() << (Scalar)0, (Scalar)0, m_theta_dot; }
void addTo(MotionDense<Derived> & other) const { other.linear()[0] += m_x_dot; other.linear()[1] += m_y_dot; other.angular()[2] += m_theta_dot; }
void se3Action_impl(const SE3Tpl<S2,O2> & m, MotionDense<D2> & v) const { v.angular().noalias() = m.rotation().col(axis) * w; v.linear().noalias() = m.translation().cross(v.angular()); }
void addTo(MotionDense<MotionDerived> & v) const { typedef typename MotionDense<MotionDerived>::Scalar OtherScalar; v.angular()[axis] += (OtherScalar)w; }
void setTo(MotionDense<MotionDerived> & m) const { m.linear().setZero(); for(Eigen::DenseIndex k = 0; k < 3; ++k) m.angular()[k] = k == axis ? w : (Scalar)0; }