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pinocchio
Commits
dc3814b7
Commit
dc3814b7
authored
Nov 15, 2020
by
Gabriele Buondonno
Browse files
[rpy] Inline everything
parent
0ca25deb
Changes
2
Hide whitespace changes
Inline
Side-by-side
src/math/rpy.hpp
View file @
dc3814b7
...
...
@@ -23,9 +23,10 @@ namespace pinocchio
/// around axis \f$\alpha\f$.
///
template
<
typename
Scalar
>
Eigen
::
Matrix
<
Scalar
,
3
,
3
>
rpyToMatrix
(
const
Scalar
r
,
const
Scalar
p
,
const
Scalar
y
);
inline
Eigen
::
Matrix
<
Scalar
,
3
,
3
>
rpyToMatrix
(
const
Scalar
r
,
const
Scalar
p
,
const
Scalar
y
);
///
/// \brief Convert from Roll, Pitch, Yaw to rotation Matrix
...
...
@@ -35,7 +36,7 @@ namespace pinocchio
/// around axis \f$\alpha\f$.
///
template
<
typename
Vector3Like
>
Eigen
::
Matrix
<
typename
Vector3Like
::
Scalar
,
3
,
3
,
PINOCCHIO_EIGEN_PLAIN_TYPE
(
Vector3Like
)
::
Options
>
inline
Eigen
::
Matrix
<
typename
Vector3Like
::
Scalar
,
3
,
3
,
PINOCCHIO_EIGEN_PLAIN_TYPE
(
Vector3Like
)
::
Options
>
rpyToMatrix
(
const
Eigen
::
MatrixBase
<
Vector3Like
>
&
rpy
);
///
...
...
@@ -52,7 +53,7 @@ namespace pinocchio
/// \warning the method assumes \f$R\f$ is a rotation matrix. If it is not, the result is undefined.
///
template
<
typename
Matrix3Like
>
Eigen
::
Matrix
<
typename
Matrix3Like
::
Scalar
,
3
,
1
,
PINOCCHIO_EIGEN_PLAIN_TYPE
(
Matrix3Like
)
::
Options
>
inline
Eigen
::
Matrix
<
typename
Matrix3Like
::
Scalar
,
3
,
1
,
PINOCCHIO_EIGEN_PLAIN_TYPE
(
Matrix3Like
)
::
Options
>
matrixToRpy
(
const
Eigen
::
MatrixBase
<
Matrix3Like
>
&
R
);
///
...
...
@@ -71,7 +72,7 @@ namespace pinocchio
/// \note for the purpose of this function, WORLD and LOCAL_WORLD_ALIGNED are equivalent
///
template
<
typename
Vector3Like
>
Eigen
::
Matrix
<
typename
Vector3Like
::
Scalar
,
3
,
3
,
PINOCCHIO_EIGEN_PLAIN_TYPE
(
Vector3Like
)
::
Options
>
inline
Eigen
::
Matrix
<
typename
Vector3Like
::
Scalar
,
3
,
3
,
PINOCCHIO_EIGEN_PLAIN_TYPE
(
Vector3Like
)
::
Options
>
rpyToJac
(
const
Eigen
::
MatrixBase
<
Vector3Like
>
&
rpy
,
const
ReferenceFrame
rf
=
LOCAL
);
///
...
...
@@ -90,7 +91,7 @@ namespace pinocchio
/// \note for the purpose of this function, WORLD and LOCAL_WORLD_ALIGNED are equivalent
///
template
<
typename
Vector3Like
>
Eigen
::
Matrix
<
typename
Vector3Like
::
Scalar
,
3
,
3
,
PINOCCHIO_EIGEN_PLAIN_TYPE
(
Vector3Like
)
::
Options
>
inline
Eigen
::
Matrix
<
typename
Vector3Like
::
Scalar
,
3
,
3
,
PINOCCHIO_EIGEN_PLAIN_TYPE
(
Vector3Like
)
::
Options
>
rpyToJacInv
(
const
Eigen
::
MatrixBase
<
Vector3Like
>
&
rpy
,
const
ReferenceFrame
rf
=
LOCAL
);
}
// namespace rpy
}
...
...
src/math/rpy.hxx
View file @
dc3814b7
...
...
@@ -12,9 +12,10 @@ namespace pinocchio
namespace
rpy
{
template
<
typename
Scalar
>
Eigen
::
Matrix
<
Scalar
,
3
,
3
>
rpyToMatrix
(
const
Scalar
r
,
const
Scalar
p
,
const
Scalar
y
)
inline
Eigen
::
Matrix
<
Scalar
,
3
,
3
>
rpyToMatrix
(
const
Scalar
r
,
const
Scalar
p
,
const
Scalar
y
)
{
typedef
Eigen
::
AngleAxis
<
Scalar
>
AngleAxis
;
typedef
Eigen
::
Matrix
<
Scalar
,
3
,
1
>
Vector3s
;
...
...
@@ -26,7 +27,7 @@ namespace pinocchio
template
<
typename
Vector3Like
>
Eigen
::
Matrix
<
typename
Vector3Like
::
Scalar
,
3
,
3
,
PINOCCHIO_EIGEN_PLAIN_TYPE
(
Vector3Like
)
::
Options
>
inline
Eigen
::
Matrix
<
typename
Vector3Like
::
Scalar
,
3
,
3
,
PINOCCHIO_EIGEN_PLAIN_TYPE
(
Vector3Like
)
::
Options
>
rpyToMatrix
(
const
Eigen
::
MatrixBase
<
Vector3Like
>
&
rpy
)
{
PINOCCHIO_ASSERT_MATRIX_SPECIFIC_SIZE
(
Vector3Like
,
rpy
,
3
,
1
);
...
...
@@ -35,7 +36,7 @@ namespace pinocchio
template
<
typename
Matrix3Like
>
Eigen
::
Matrix
<
typename
Matrix3Like
::
Scalar
,
3
,
1
,
PINOCCHIO_EIGEN_PLAIN_TYPE
(
Matrix3Like
)
::
Options
>
inline
Eigen
::
Matrix
<
typename
Matrix3Like
::
Scalar
,
3
,
1
,
PINOCCHIO_EIGEN_PLAIN_TYPE
(
Matrix3Like
)
::
Options
>
matrixToRpy
(
const
Eigen
::
MatrixBase
<
Matrix3Like
>
&
R
)
{
PINOCCHIO_ASSERT_MATRIX_SPECIFIC_SIZE
(
Matrix3Like
,
R
,
3
,
3
);
...
...
@@ -66,7 +67,7 @@ namespace pinocchio
template
<
typename
Vector3Like
>
Eigen
::
Matrix
<
typename
Vector3Like
::
Scalar
,
3
,
3
,
PINOCCHIO_EIGEN_PLAIN_TYPE
(
Vector3Like
)
::
Options
>
inline
Eigen
::
Matrix
<
typename
Vector3Like
::
Scalar
,
3
,
3
,
PINOCCHIO_EIGEN_PLAIN_TYPE
(
Vector3Like
)
::
Options
>
rpyToJac
(
const
Eigen
::
MatrixBase
<
Vector3Like
>
&
rpy
,
const
ReferenceFrame
rf
)
{
typedef
typename
Vector3Like
::
Scalar
Scalar
;
...
...
@@ -104,7 +105,7 @@ namespace pinocchio
template
<
typename
Vector3Like
>
Eigen
::
Matrix
<
typename
Vector3Like
::
Scalar
,
3
,
3
,
PINOCCHIO_EIGEN_PLAIN_TYPE
(
Vector3Like
)
::
Options
>
inline
Eigen
::
Matrix
<
typename
Vector3Like
::
Scalar
,
3
,
3
,
PINOCCHIO_EIGEN_PLAIN_TYPE
(
Vector3Like
)
::
Options
>
rpyToJacInv
(
const
Eigen
::
MatrixBase
<
Vector3Like
>
&
rpy
,
const
ReferenceFrame
rf
)
{
typedef
typename
Vector3Like
::
Scalar
Scalar
;
...
...
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