gcop::InsManifold Class Reference

#include <insmanifold.h>

Inheritance diagram for gcop::InsManifold:

Collaboration diagram for gcop::InsManifold:

List of all members.

Public Member Functions
void	Lift (Vector15d &v, const InsState &xa, const InsState &xb)
void	Retract (InsState &xb, const InsState &xa, const Vector15d &v)
void	dtau (Matrix15d &M, const Vector15d &v)
void	Adtau (Matrix15d &M, const Vector15d &v)
Static Public Member Functions
static InsManifold &	Instance ()

---

Member Function Documentation

void InsManifold::Adtau	(	Matrix15d &	M,
		const Vector15d &	v
	)

References Instance().

void InsManifold::dtau	(	Matrix15d &	M,
		const Vector15d &	v
	)

References Instance().

InsManifold & InsManifold::Instance

(

)

[static]

Referenced by Adtau(), dtau(), Lift(), and Retract().

void InsManifold::Lift	(	Vector15d &	v,
		const InsState &	xa,
		const InsState &	xb
	)

References gcop::InsState::ba, gcop::InsState::bg, Instance(), gcop::InsState::p, gcop::InsState::R, and gcop::InsState::v.

void InsManifold::Retract	(	InsState &	xb,
		const InsState &	xa,
		const Vector15d &	v
	)

References gcop::InsState::ba, gcop::InsState::bg, Instance(), gcop::InsState::p, gcop::InsState::R, and gcop::InsState::v.

---

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

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