gcop::GunicycleManifold Class Reference

#include <gunicyclemanifold.h>

Inheritance diagram for gcop::GunicycleManifold:

Collaboration diagram for gcop::GunicycleManifold:

List of all members.

Public Member Functions
void	Lift (Vector5d &dx, const M3V2d &xa, const M3V2d &xb)
void	Retract (M3V2d &xb, const M3V2d &xa, const Vector5d &dx)
void	dtau (Matrix5d &M, const Vector5d &v)
void	Adtau (Matrix5d &M, const Vector5d &v)
Static Public Member Functions
static GunicycleManifold &	Instance ()

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Member Function Documentation

void GunicycleManifold::Adtau	(	Matrix5d &	M,
		const Vector5d &	v
	)

void GunicycleManifold::dtau	(	Matrix5d &	M,
		const Vector5d &	v
	)

GunicycleManifold & GunicycleManifold::Instance

(

)

[static]

void GunicycleManifold::Lift	(	Vector5d &	dx,
		const M3V2d &	xa,
		const M3V2d &	xb
	)

References gcop::Group< n, m >::diff(), gcop::SE2::g2q(), and gcop::SE2::Instance().

void GunicycleManifold::Retract	(	M3V2d &	xb,
		const M3V2d &	xa,
		const Vector5d &	dx
	)

References gcop::SE2::Instance(), and gcop::SE2::q2g().

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The documentation for this class was generated from the following files:

• lib/systems/manifolds/gunicyclemanifold.h
• lib/systems/manifolds/gunicyclemanifold.cc