Use Device configuration space for lie group operations.
Created by: jmirabel
Class Device has a method configuration space which return the robot configuration space (including the extra DoF). This LieGroupSpace
can handle integration of a velocity, difference between configurations and could handle interpolation.
Functions integrate
, difference
, interpolate
, etc... of include/hpp/pinocchio/configuration.hh
could be implemented with the device LieGroupSpace
. It would make it possible to change at runtime the interpolation method by changing the robot Lie group. Moreover, the device Lie group can be factorized (i.e. R^n x R^p
becomes R^{n+p}
)
As a remark we should take care of later, relying on LieGroupSpace
and LieGroupElement
more deeply may help us to handle velocities representation correctly.