gcop::MbsCspace Class Reference

#include <mbscspace.h>

Inheritance diagram for gcop::MbsCspace:

Collaboration diagram for gcop::MbsCspace:

List of all members.

Public Member Functions
	MbsCspace (int nb)
void	Lift (Vectornd &v, const MbsState &xa, const MbsState &xb)
void	Retract (MbsState &xb, const MbsState &xa, const VectorXd &v)

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Constructor & Destructor Documentation

MbsCspace::MbsCspace

(

int

nb

)

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Member Function Documentation

void MbsCspace::Lift	(	Vectornd &	v,
		const MbsState &	xa,
		const MbsState &	xb
	)		[virtual]

Compute a lie algebra element corresponding to a group action between two given states on a manifold. This operation geometrically means that the curve from xa to xb is "lifted" to the tangent space of the manifold to a vector represented by the lie algebra element.

The element can also be regarded as a difference between the two states xa and xb. On a vector space this is v = xb - xa. On homogeneous manifolds v is a Lie algebra element corresponding to an action taking xa to xb.

Parameters:

v	Lie algebra element (regarded as difference between xb and xa)
xa	starting state
xb	ending state

Implements gcop::Manifold< MbsState >.

References gcop::Group< n, m >::cayinv(), gcop::MbsState::gs, gcop::SE3::Instance(), gcop::SE3::inv(), and gcop::MbsState::r.

void MbsCspace::Retract	(	MbsState &	xb,
		const MbsState &	xa,
		const VectorXd &	v
	)

References gcop::SE3::cay(), gcop::MbsState::gs, gcop::SE3::Instance(), and gcop::MbsState::r.

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

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