Commit 77cf434f by Joseph Mirabel

### [Doc] Add macro \cheatsheet + some documentation.

parent 566d2323
 ... ... @@ -675,3 +675,9 @@ MATHJAX_RELPATH = MathJax/ # the tag USE_MATHJAX is set to YES. MATHJAX_FORMAT = SVG #--------------------------------------------------------------------------- # Aliases #--------------------------------------------------------------------------- ALIASES += "cheatsheet=\xrefitem cheatsheet \"Remarkable identity\" \"Cheat sheet\""
 ... ... @@ -439,6 +439,7 @@ namespace pinocchio * SE3(p1.matrix(), q1.derived().template head<3>())).toVector(); } /// \cheatsheet \f$\frac{\partial\ominus}{\partial q_1} {}^1X_0 = - \frac{\partial\ominus}{\partial q_0} \f$ template void dDifference_impl (const Eigen::MatrixBase & q0, const Eigen::MatrixBase & q1, ... ...
 ... ... @@ -10,15 +10,17 @@ namespace pinocchio { /** The rigid transform aMb can be seen in two ways: * * - given a point p expressed in frame B by its coordinate vector Bp, aMb * computes its coordinates in frame A by Ap = aMb Bp. * - aMb displaces a solid S centered at frame A into the solid centered in * B. In particular, the origin of A is displaced at the origin of B: $^aM_b * ^aA = ^aB$. * - given a point p expressed in frame B by its coordinate vector \f$^bp \f$, \f$^aM_b \f$ * computes its coordinates in frame A by \f$^ap = {}^aM_b {}^bp \f$. * - \f$^aM_b \f$ displaces a solid S centered at frame A into the solid centered in * B. In particular, the origin of A is displaced at the origin of B: * \f$^aM_b {}^aA = {}^aB \f$. * The rigid displacement is stored as a rotation matrix and translation vector by: * aMb (x) = aRb*x + aAB * where aAB is the vector from origin A to origin B expressed in coordinates A. * \f$^aM_b x = {}^aR_b x + {}^aAB \f$ * where \f$^aAB\f$ is the vector from origin A to origin B expressed in coordinates A. * * \cheatsheet \f${}^aM_c = {}^aM_b {}^bM_c \f$ */ template struct SE3Base ... ... @@ -41,12 +43,21 @@ namespace pinocchio } operator HomogeneousMatrixType() const { return toHomogeneousMatrix(); } /** * @brief The action matrix \f${}^aX_b \f$ of \f${}^aM_b \f$. * * \cheatsheet \f${}^a\nu_c = {}^aX_b {}^b\nu_c \f$ */ ActionMatrixType toActionMatrix() const { return derived().toActionMatrix_impl(); } operator ActionMatrixType() const { return toActionMatrix(); } /** * @brief The action matrix \f${}^bX_a \f$ of \f${}^aM_b \f$. * \sa toActionMatrix() */ ActionMatrixType toActionMatrixInverse() const { return derived().toActionMatrixInverse_impl(); ... ...
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