### doc: improve documentation of parallel transportation

parent bdfaec54
 ... ... @@ -350,6 +350,9 @@ namespace pinocchio * * @details This function performs the parallel transportation of an input matrix whose columns are expressed in the tangent space of the integrated element \f$q \oplus v \f$, * to the tangent space at \f$q \f$. * In other words, this functions transforms a tangent vector expressed at \f$q \oplus v \f$ to a tangent vector expressed at \f$q \f$, considering that the change of configuration between * \f$q \oplus v \f$ and \f$q \f$ may alter the value of this tangent vector. * A typical example of parallel transportation is the action operated by a rigid transformation \f$M \in \text{SE}(3)\f$ on a spatial velocity \f$v \in \text{se}(3)\f$. * In the context of configuration spaces assimilated as vectorial spaces, this operation corresponds to Identity. * For Lie groups, its corresponds to the canonical vector field transportation. * ... ... @@ -375,6 +378,9 @@ namespace pinocchio * * @details This function performs the parallel transportation of an input matrix whose columns are expressed in the tangent space of the integrated element \f$q \oplus v \f$, * to the tangent space at \f$q \f$. * In other words, this functions transforms a tangent vector expressed at \f$q \oplus v \f$ to a tangent vector expressed at \f$q \f$, considering that the change of configuration between * \f$q \oplus v \f$ and \f$q \f$ may alter the value of this tangent vector. * A typical example of parallel transportation is the action operated by a rigid transformation \f$M \in \text{SE}(3)\f$ on a spatial velocity \f$v \in \text{se}(3)\f$. * In the context of configuration spaces assimilated as vectorial spaces, this operation corresponds to Identity. * For Lie groups, its corresponds to the canonical vector field transportation. * ... ... @@ -403,6 +409,9 @@ namespace pinocchio * * @details This function performs the parallel transportation of an input matrix whose columns are expressed in the tangent space of the integrated element \f$q \oplus v \f$, * to the tangent space at \f$q \f$. * In other words, this functions transforms a tangent vector expressed at \f$q \oplus v \f$ to a tangent vector expressed at \f$q \f$, considering that the change of configuration between * \f$q \oplus v \f$ and \f$q \f$ may alter the value of this tangent vector. * A typical example of parallel transportation is the action operated by a rigid transformation \f$M \in \text{SE}(3)\f$ on a spatial velocity \f$v \in \text{se}(3)\f$. * In the context of configuration spaces assimilated as vectorial spaces, this operation corresponds to Identity. * For Lie groups, its corresponds to the canonical vector field transportation. * ... ... @@ -426,6 +435,9 @@ namespace pinocchio * * @details This function performs the parallel transportation of an input matrix whose columns are expressed in the tangent space of the integrated element \f$q \oplus v \f$, * to the tangent space at \f$q \f$. * In other words, this functions transforms a tangent vector expressed at \f$q \oplus v \f$ to a tangent vector expressed at \f$q \f$, considering that the change of configuration between * \f$q \oplus v \f$ and \f$q \f$ may alter the value of this tangent vector. * A typical example of parallel transportation is the action operated by a rigid transformation \f$M \in \text{SE}(3)\f$ on a spatial velocity \f$v \in \text{se}(3)\f$. * In the context of configuration spaces assimilated as vectorial spaces, this operation corresponds to Identity. * For Lie groups, its corresponds to the canonical vector field transportation. * ... ...
 ... ... @@ -161,6 +161,9 @@ PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename) * * @details This function performs the parallel transportation of an input matrix whose columns are expressed in the tangent space of the integrated element \f$q \oplus v \f$, * to the tangent space at \f$q \f$. * In other words, this functions transforms a tangent vector expressed at \f$q \oplus v \f$ to a tangent vector expressed at \f$q \f$, considering that the change of configuration between * \f$q \oplus v \f$ and \f$q \f$ may alter the value of this tangent vector. * A typical example of parallel transportation is the action operated by a rigid transformation \f$M \in \text{SE}(3)\f$ on a spatial velocity \f$v \in \text{se}(3)\f$. * In the context of configuration spaces assimilated as vectorial spaces, this operation corresponds to Identity. * For Lie groups, its corresponds to the canonical vector field transportation. * ... ... @@ -185,6 +188,9 @@ PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename) * * @details This function performs the parallel transportation of an input matrix whose columns are expressed in the tangent space of the integrated element \f$q \oplus v \f$, * to the tangent space at \f$q \f$. * In other words, this functions transforms a tangent vector expressed at \f$q \oplus v \f$ to a tangent vector expressed at \f$q \f$, considering that the change of configuration between * \f$q \oplus v \f$ and \f$q \f$ may alter the value of this tangent vector. * A typical example of parallel transportation is the action operated by a rigid transformation \f$M \in \text{SE}(3)\f$ on a spatial velocity \f$v \in \text{se}(3)\f$. * In the context of configuration spaces assimilated as vectorial spaces, this operation corresponds to Identity. * For Lie groups, its corresponds to the canonical vector field transportation. * ... ... @@ -205,6 +211,9 @@ PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename) * * @details This function performs the parallel transportation of an input matrix whose columns are expressed in the tangent space of the integrated element \f$q \oplus v \f$, * to the tangent space at \f$q \f$. * In other words, this functions transforms a tangent vector expressed at \f$q \oplus v \f$ to a tangent vector expressed at \f$q \f$, considering that the change of configuration between * \f$q \oplus v \f$ and \f$q \f$ may alter the value of this tangent vector. * A typical example of parallel transportation is the action operated by a rigid transformation \f$M \in \text{SE}(3)\f$ on a spatial velocity \f$v \in \text{se}(3)\f$. * In the context of configuration spaces assimilated as vectorial spaces, this operation corresponds to Identity. * For Lie groups, its corresponds to the canonical vector field transportation. * ... ... @@ -227,6 +236,9 @@ PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename) * * @details This function performs the parallel transportation of an input matrix whose columns are expressed in the tangent space of the integrated element \f$q \oplus v \f$, * to the tangent space at \f$q \f$. * In other words, this functions transforms a tangent vector expressed at \f$q \oplus v \f$ to a tangent vector expressed at \f$q \f$, considering that the change of configuration between * \f$q \oplus v \f$ and \f$q \f$ may alter the value of this tangent vector. * A typical example of parallel transportation is the action operated by a rigid transformation \f$M \in \text{SE}(3)\f$ on a spatial velocity \f$v \in \text{se}(3)\f$. * In the context of configuration spaces assimilated as vectorial spaces, this operation corresponds to Identity. * For Lie groups, its corresponds to the canonical vector field transportation. * ... ... @@ -247,6 +259,9 @@ PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename) * * @details This function performs the parallel transportation of an input matrix whose columns are expressed in the tangent space of the integrated element \f$q \oplus v \f$, * to the tangent space at \f$q \f$. * In other words, this functions transforms a tangent vector expressed at \f$q \oplus v \f$ to a tangent vector expressed at \f$q \f$, considering that the change of configuration between * \f$q \oplus v \f$ and \f$q \f$ may alter the value of this tangent vector. * A typical example of parallel transportation is the action operated by a rigid transformation \f$M \in \text{SE}(3)\f$ on a spatial velocity \f$v \in \text{se}(3)\f$. * In the context of configuration spaces assimilated as vectorial spaces, this operation corresponds to Identity. * For Lie groups, its corresponds to the canonical vector field transportation. * ... ... @@ -266,6 +281,9 @@ PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename) * * @details This function performs the parallel transportation of an input matrix whose columns are expressed in the tangent space of the integrated element \f$q \oplus v \f$, * to the tangent space at \f$q \f$. * In other words, this functions transforms a tangent vector expressed at \f$q \oplus v \f$ to a tangent vector expressed at \f$q \f$, considering that the change of configuration between * \f$q \oplus v \f$ and \f$q \f$ may alter the value of this tangent vector. * A typical example of parallel transportation is the action operated by a rigid transformation \f$M \in \text{SE}(3)\f$ on a spatial velocity \f$v \in \text{se}(3)\f$. * In the context of configuration spaces assimilated as vectorial spaces, this operation corresponds to Identity. * For Lie groups, its corresponds to the canonical vector field transportation. * ... ...
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!