4#include <proxsuite-nlp/manifold-base.hpp>
6#include <crocoddyl/core/state-base.hpp>
7#include <boost/shared_ptr.hpp>
15template <
typename _Scalar>
19 using PointType = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>;
36 VectorRef out)
const {
41 MatrixRef Jout,
int arg)
const {
46 VectorRef out)
const {
51 MatrixRef Jout,
int arg)
const {
56 MatrixRef Jout,
int arg)
const {
62 return crocoddyl::first;
63 }
else if (arg == 1) {
64 return crocoddyl::second;
66 return crocoddyl::both;
Wraps a crocoddyl::StateAbstractTpl to a manifold (proxsuite::nlp::ManifoldAbstractTpl).
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > TangentVectorType
static crocoddyl::Jcomponent convert_to_firstsecond(int arg)
crocoddyl::StateAbstractTpl< Scalar > StateAbstract
void Jdifference_impl(const ConstVectorRef &x0, const ConstVectorRef &x1, MatrixRef Jout, int arg) const
ALIGATOR_DYNAMIC_TYPEDEFS(Scalar)
void JintegrateTransport(const ConstVectorRef &x, const ConstVectorRef &v, MatrixRef Jout, int arg) const
void difference_impl(const ConstVectorRef &x0, const ConstVectorRef &x1, VectorRef out) const
PointType neutral() const
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > PointType
void Jintegrate_impl(const ConstVectorRef &x, const ConstVectorRef &v, MatrixRef Jout, int arg) const
StateWrapperTpl(const boost::shared_ptr< StateAbstract > &state)
boost::shared_ptr< StateAbstract > croc_state
void integrate_impl(const ConstVectorRef &x, const ConstVectorRef &v, VectorRef out) const