Verified Commit e07b872f authored by Justin Carpentier's avatar Justin Carpentier
Browse files

liegroups: fix default template operator + add doc

parent 3716c12a
......@@ -88,14 +88,16 @@ PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
*
* @param[in] q configuration vector.
* @param[in] v tangent vector.
* @param[in] op assignment operator (SETTO, ADDTO or RMTO).
* @tparam arg ARG0 (resp. ARG1) to get the Jacobian with respect to q (resp. v).
*
* @param[out] J the Jacobian of the Integrate operation w.r.t. the argument arg.
*/
template <ArgumentPosition arg, class Config_t, class Tangent_t, class JacobianOut_t, AssignmentOperatorType op = SETTO>
template <ArgumentPosition arg, class Config_t, class Tangent_t, class JacobianOut_t>
void dIntegrate(const Eigen::MatrixBase<Config_t > & q,
const Eigen::MatrixBase<Tangent_t> & v,
const Eigen::MatrixBase<JacobianOut_t> & J) const
const Eigen::MatrixBase<JacobianOut_t> & J,
AssignmentOperatorType op = SETTO) const
{
PINOCCHIO_STATIC_ASSERT(arg==ARG0||arg==ARG1, arg_SHOULD_BE_ARG0_OR_ARG1);
return dIntegrate(q.derived(),v.derived(),PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,J),arg,op);
......@@ -110,6 +112,7 @@ PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
* @param[in] q configuration vector.
* @param[in] v tangent vector.
* @param[in] arg ARG0 (resp. ARG1) to get the Jacobian with respect to q (resp. v).
* @param[in] op assignment operator (SETTO, ADDTO and RMTO).
*
* @param[out] J the Jacobian of the Integrate operation w.r.t. the argument arg.
*/
......@@ -128,6 +131,7 @@ PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
*
* @param[in] q configuration vector.
* @param[in] v tangent vector.
* @param[in] op assignment operator (SETTO, ADDTO or RMTO).
*
* @param[out] J the Jacobian of the Integrate operation w.r.t. the configuration vector q.
*/
......@@ -145,6 +149,7 @@ PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
*
* @param[in] q configuration vector.
* @param[in] v tangent vector.
* @param[in] op assignment operator (SETTO, ADDTO or RMTO).
*
* @param[out] J the Jacobian of the Integrate operation w.r.t. the tangent vector v.
*/
......@@ -154,7 +159,6 @@ PINOCCHIO_LIE_GROUP_PUBLIC_INTERFACE_GENERIC(Derived,typename)
const Eigen::MatrixBase<JacobianOut_t> & J,
const AssignmentOperatorType op = SETTO) const;
/**
*
* @brief Transport a matrix from the terminal to the originate tangent space of the integrate operation, with respect to the configuration or the velocity arguments.
......
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