6#include <crocoddyl/core/state-base.hpp>
7#include <boost/shared_ptr.hpp>
13template <
typename _Scalar>
28 :
Base(int(state->get_nx()), int(state->get_ndx()))
33 return crocoddyl::first;
34 }
else if (arg == 1) {
35 return crocoddyl::second;
37 return crocoddyl::both;
47 VectorRef out)
const {
52 MatrixRef Jout,
int arg)
const {
57 VectorRef out)
const {
62 MatrixRef Jout,
int arg)
const {
67 const ConstVectorRef &v, MatrixRef Jout,
73#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
74extern template struct StateWrapperTpl<context::Scalar>;
Headers for the Crocoddyl compatibility module.
ManifoldAbstractTpl(int nx, int ndx)
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > TangentVectorType
static crocoddyl::Jcomponent convert_to_firstsecond(int arg)
void rand_impl(VectorRef out) const
crocoddyl::StateAbstractTpl< Scalar > StateAbstract
void JintegrateTransport_impl(const ConstVectorRef &x, const ConstVectorRef &v, MatrixRef Jout, int arg) const
void Jdifference_impl(const ConstVectorRef &x0, const ConstVectorRef &x1, MatrixRef Jout, int arg) const
ALIGATOR_DYNAMIC_TYPEDEFS(Scalar)
StateWrapperTpl(const shared_ptr< StateAbstract > &state)
void difference_impl(const ConstVectorRef &x0, const ConstVectorRef &x1, VectorRef out) const
Implementation of the manifold retraction operation.
ManifoldAbstractTpl< Scalar > Base
shared_ptr< StateAbstract > croc_state
void Jintegrate_impl(const ConstVectorRef &x, const ConstVectorRef &v, MatrixRef Jout, int arg) const
void integrate_impl(const ConstVectorRef &x, const ConstVectorRef &v, VectorRef out) const
Perform the manifold integration operation.
void neutral_impl(VectorRef out) const