Base class for manifolds, to use in cost funcs, solvers... More...

#include <aligator/core/manifold-base.hpp>

Inheritance diagram for aligator::ManifoldAbstractTpl< _Scalar >:

Public Types
using	Scalar = _Scalar

using	TangentSpaceType = VectorSpaceTpl<Scalar, Eigen::Dynamic>
	Typedef for the tangent space, as a manifold.

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	Scalar type.

virtual	~ManifoldAbstractTpl ()=default

virtual int	nx () const =0
	Get manifold representation dimension.

virtual int	ndx () const =0
	Get manifold tangent space dimension.

VectorXs	neutral () const
	Get the neutral element \(e \in M\) from the manifold (if this makes sense).

void	neutral (VectorRef out) const
	Get the neutral element \(e \in M\) from the manifold (if this makes sense).

VectorXs	rand () const
	Sample a random point \(x \in M\) on the manifold.

void	rand (VectorRef out) const
	Sample a random point \(x \in M\) on the manifold.

virtual bool	isNormalized (const ConstVectorRef &) const
	Check if the input vector `x` is a viable element of the manifold.

TangentSpaceType	tangentSpace () const
	Return an object representing the tangent space as a manifold.

Operations
void	integrate (const ConstVectorRef &x, const ConstVectorRef &v, VectorRef out) const
	Manifold integration operation \(x \oplus v\).

void	Jintegrate (const ConstVectorRef &x, const ConstVectorRef &v, MatrixRef Jout, int arg) const
	Jacobian of the integation operation.

void	JintegrateTransport (const ConstVectorRef &x, const ConstVectorRef &v, MatrixRef Jout, int arg) const
	Perform the parallel transport operation.

void	difference (const ConstVectorRef &x0, const ConstVectorRef &x1, VectorRef out) const
	Manifold difference/retraction operation \(x_1 \ominus x_0\).

void	Jdifference (const ConstVectorRef &x0, const ConstVectorRef &x1, MatrixRef Jout, int arg) const
	Jacobian of the retraction operation.

void	interpolate (const ConstVectorRef &x0, const ConstVectorRef &x1, const Scalar &u, VectorRef out) const

Allocated overloads.
VectorXs	integrate (const ConstVectorRef &x, const ConstVectorRef &v) const
	Manifold integration operation \(x \oplus v\).

VectorXs	difference (const ConstVectorRef &x0, const ConstVectorRef &x1) const
	Manifold difference/retraction operation \(x_1 \ominus x_0\).

VectorXs	interpolate (const ConstVectorRef &x0, const ConstVectorRef &x1, const Scalar &u) const
	Interpolation operation.

Protected Member Functions
virtual void	integrate_impl (const ConstVectorRef &x, const ConstVectorRef &v, VectorRef out) const =0
	Perform the manifold integration operation.

virtual void	Jintegrate_impl (const ConstVectorRef &x, const ConstVectorRef &v, MatrixRef Jout, int arg) const =0

virtual void	JintegrateTransport_impl (const ConstVectorRef &x, const ConstVectorRef &v, MatrixRef Jout, int arg) const =0

virtual void	difference_impl (const ConstVectorRef &x0, const ConstVectorRef &x1, VectorRef out) const =0
	Implementation of the manifold retraction operation.

virtual void	Jdifference_impl (const ConstVectorRef &x0, const ConstVectorRef &x1, MatrixRef Jout, int arg) const =0

virtual void	interpolate_impl (const ConstVectorRef &x0, const ConstVectorRef &x1, const Scalar &u, VectorRef out) const
	Interpolation operation.

virtual void	neutral_impl (VectorRef out) const

virtual void	rand_impl (VectorRef out) const

Detailed Description

template<typename _Scalar>
struct aligator::ManifoldAbstractTpl< _Scalar >

Base class for manifolds, to use in cost funcs, solvers...

Definition at line 11 of file manifold-base.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar>

using aligator::ManifoldAbstractTpl< _Scalar >::Scalar = _Scalar

Definition at line 13 of file manifold-base.hpp.

◆ TangentSpaceType

template<typename _Scalar>

using aligator::ManifoldAbstractTpl< _Scalar >::TangentSpaceType = VectorSpaceTpl<Scalar, Eigen::Dynamic>

Typedef for the tangent space, as a manifold.

Definition at line 16 of file manifold-base.hpp.

Constructor & Destructor Documentation

◆ ~ManifoldAbstractTpl()

template<typename _Scalar>

virtual aligator::ManifoldAbstractTpl< _Scalar >::~ManifoldAbstractTpl ( )

virtualdefault

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

aligator::ManifoldAbstractTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

Scalar type.

◆ nx()

template<typename _Scalar>

virtual int aligator::ManifoldAbstractTpl< _Scalar >::nx ( ) const

pure virtual

Get manifold representation dimension.

Implemented in aligator::CartesianProductTpl< _Scalar >, aligator::CartesianProductTpl< Scalar >, aligator::CartesianProductTpl< Scalar >, aligator::compat::croc::StateWrapperTpl< _Scalar >, aligator::compat::croc::StateWrapperTpl< Scalar >, aligator::compat::croc::StateWrapperTpl< Scalar >, aligator::MultibodyConfiguration< _Scalar >, aligator::MultibodyConfiguration< Scalar >, aligator::MultibodyConfiguration< Scalar >, aligator::PinocchioLieGroup< _LieGroup >, aligator::PinocchioLieGroup< pin::SpecialEuclideanOperationTpl< D, Scalar > >, aligator::PinocchioLieGroup< pin::SpecialEuclideanOperationTpl< D, Scalar > >, aligator::PinocchioLieGroup< pin::SpecialOrthogonalOperationTpl< D, Scalar > >, aligator::PinocchioLieGroup< pin::SpecialOrthogonalOperationTpl< D, Scalar > >, aligator::TangentBundleTpl< Base >, aligator::TangentBundleTpl< MultibodyConfiguration< Scalar > >, aligator::VectorSpaceTpl< _Scalar, _Dim >, aligator::VectorSpaceTpl< Scalar >, aligator::VectorSpaceTpl< Scalar >, aligator::VectorSpaceTpl< Scalar, 7 >, aligator::VectorSpaceTpl< Scalar, 7 >, aligator::VectorSpaceTpl< Scalar, Eigen::Dynamic >, and aligator::VectorSpaceTpl< Scalar, Eigen::Dynamic >.

◆ ndx()

template<typename _Scalar>

virtual int aligator::ManifoldAbstractTpl< _Scalar >::ndx ( ) const

pure virtual

Get manifold tangent space dimension.

Implemented in aligator::CartesianProductTpl< _Scalar >, aligator::CartesianProductTpl< Scalar >, aligator::CartesianProductTpl< Scalar >, aligator::compat::croc::StateWrapperTpl< _Scalar >, aligator::compat::croc::StateWrapperTpl< Scalar >, aligator::compat::croc::StateWrapperTpl< Scalar >, aligator::MultibodyConfiguration< _Scalar >, aligator::MultibodyConfiguration< Scalar >, aligator::MultibodyConfiguration< Scalar >, aligator::PinocchioLieGroup< _LieGroup >, aligator::PinocchioLieGroup< pin::SpecialEuclideanOperationTpl< D, Scalar > >, aligator::PinocchioLieGroup< pin::SpecialEuclideanOperationTpl< D, Scalar > >, aligator::PinocchioLieGroup< pin::SpecialOrthogonalOperationTpl< D, Scalar > >, aligator::PinocchioLieGroup< pin::SpecialOrthogonalOperationTpl< D, Scalar > >, aligator::TangentBundleTpl< Base >, aligator::TangentBundleTpl< MultibodyConfiguration< Scalar > >, aligator::VectorSpaceTpl< _Scalar, _Dim >, aligator::VectorSpaceTpl< Scalar >, aligator::VectorSpaceTpl< Scalar >, aligator::VectorSpaceTpl< Scalar, 7 >, aligator::VectorSpaceTpl< Scalar, 7 >, aligator::VectorSpaceTpl< Scalar, Eigen::Dynamic >, and aligator::VectorSpaceTpl< Scalar, Eigen::Dynamic >.

◆ neutral() [1/2]

template<typename _Scalar>

VectorXs aligator::ManifoldAbstractTpl< _Scalar >::neutral ( ) const

inline

Get the neutral element \(e \in M\) from the manifold (if this makes sense).

Definition at line 27 of file manifold-base.hpp.

◆ neutral() [2/2]

template<typename _Scalar>

void aligator::ManifoldAbstractTpl< _Scalar >::neutral ( VectorRef out ) const

inline

Get the neutral element \(e \in M\) from the manifold (if this makes sense).

Definition at line 34 of file manifold-base.hpp.

◆ rand() [1/2]

template<typename _Scalar>

VectorXs aligator::ManifoldAbstractTpl< _Scalar >::rand ( ) const

inline

Sample a random point \(x \in M\) on the manifold.

Definition at line 37 of file manifold-base.hpp.

◆ rand() [2/2]

template<typename _Scalar>

void aligator::ManifoldAbstractTpl< _Scalar >::rand ( VectorRef out ) const

inline

Sample a random point \(x \in M\) on the manifold.

Definition at line 44 of file manifold-base.hpp.

◆ isNormalized()

template<typename _Scalar>

virtual bool aligator::ManifoldAbstractTpl< _Scalar >::isNormalized ( const ConstVectorRef & ) const

inlinevirtual

Check if the input vector x is a viable element of the manifold.

Reimplemented in aligator::CartesianProductTpl< _Scalar >, aligator::CartesianProductTpl< Scalar >, aligator::CartesianProductTpl< Scalar >, aligator::MultibodyConfiguration< _Scalar >, aligator::MultibodyConfiguration< Scalar >, aligator::MultibodyConfiguration< Scalar >, aligator::PinocchioLieGroup< _LieGroup >, aligator::PinocchioLieGroup< pin::SpecialEuclideanOperationTpl< D, Scalar > >, aligator::PinocchioLieGroup< pin::SpecialEuclideanOperationTpl< D, Scalar > >, aligator::PinocchioLieGroup< pin::SpecialOrthogonalOperationTpl< D, Scalar > >, aligator::PinocchioLieGroup< pin::SpecialOrthogonalOperationTpl< D, Scalar > >, aligator::TangentBundleTpl< Base >, and aligator::TangentBundleTpl< MultibodyConfiguration< Scalar > >.

Definition at line 48 of file manifold-base.hpp.

◆ tangentSpace()

template<typename _Scalar>

TangentSpaceType aligator::ManifoldAbstractTpl< _Scalar >::tangentSpace ( ) const

inline

Return an object representing the tangent space as a manifold.

Definition at line 51 of file manifold-base.hpp.

◆ integrate() [1/2]

template<typename _Scalar>

void aligator::ManifoldAbstractTpl< _Scalar >::integrate	(	const ConstVectorRef &	x,
		const ConstVectorRef &	v,
		VectorRef	out ) const

Manifold integration operation \(x \oplus v\).

◆ Jintegrate()

template<typename _Scalar>

void aligator::ManifoldAbstractTpl< _Scalar >::Jintegrate	(	const ConstVectorRef &	x,
		const ConstVectorRef &	v,
		MatrixRef	Jout,
		int	arg ) const

Jacobian of the integation operation.

◆ JintegrateTransport()

template<typename _Scalar>

void aligator::ManifoldAbstractTpl< _Scalar >::JintegrateTransport	(	const ConstVectorRef &	x,
		const ConstVectorRef &	v,
		MatrixRef	Jout,
		int	arg ) const

inline

Perform the parallel transport operation.

Definition at line 67 of file manifold-base.hpp.

◆ difference() [1/2]

template<typename _Scalar>

void aligator::ManifoldAbstractTpl< _Scalar >::difference	(	const ConstVectorRef &	x0,
		const ConstVectorRef &	x1,
		VectorRef	out ) const

Manifold difference/retraction operation \(x_1 \ominus x_0\).

◆ Jdifference()

template<typename _Scalar>

void aligator::ManifoldAbstractTpl< _Scalar >::Jdifference	(	const ConstVectorRef &	x0,
		const ConstVectorRef &	x1,
		MatrixRef	Jout,
		int	arg ) const

Jacobian of the retraction operation.

◆ interpolate() [1/2]

template<typename _Scalar>

void aligator::ManifoldAbstractTpl< _Scalar >::interpolate	(	const ConstVectorRef &	x0,
		const ConstVectorRef &	x1,
		const Scalar &	u,
		VectorRef	out ) const

◆ integrate() [2/2]

template<typename _Scalar>

VectorXs aligator::ManifoldAbstractTpl< _Scalar >::integrate	(	const ConstVectorRef &	x,
		const ConstVectorRef &	v ) const

inline

Manifold integration operation \(x \oplus v\).

Out-of-place variant of integration operator.

Definition at line 90 of file manifold-base.hpp.

◆ difference() [2/2]

template<typename _Scalar>

VectorXs aligator::ManifoldAbstractTpl< _Scalar >::difference	(	const ConstVectorRef &	x0,
		const ConstVectorRef &	x1 ) const

inline

Manifold difference/retraction operation \(x_1 \ominus x_0\).

Out-of-place version of diff operator.

Definition at line 99 of file manifold-base.hpp.

◆ interpolate() [2/2]

template<typename _Scalar>

VectorXs aligator::ManifoldAbstractTpl< _Scalar >::interpolate	(	const ConstVectorRef &	x0,
		const ConstVectorRef &	x1,
		const Scalar &	u ) const

inline

Interpolation operation.

Definition at line 107 of file manifold-base.hpp.

◆ integrate_impl()

template<typename _Scalar>

virtual void aligator::ManifoldAbstractTpl< _Scalar >::integrate_impl	(	const ConstVectorRef &	x,
		const ConstVectorRef &	v,
		VectorRef	out ) const

protectedpure virtual

Perform the manifold integration operation.

Implemented in aligator::CartesianProductTpl< _Scalar >, aligator::CartesianProductTpl< Scalar >, aligator::CartesianProductTpl< Scalar >, aligator::compat::croc::StateWrapperTpl< _Scalar >, aligator::compat::croc::StateWrapperTpl< Scalar >, aligator::compat::croc::StateWrapperTpl< Scalar >, aligator::MultibodyConfiguration< _Scalar >, aligator::MultibodyConfiguration< Scalar >, aligator::MultibodyConfiguration< Scalar >, aligator::PinocchioLieGroup< _LieGroup >, aligator::PinocchioLieGroup< pin::SpecialEuclideanOperationTpl< D, Scalar > >, aligator::PinocchioLieGroup< pin::SpecialEuclideanOperationTpl< D, Scalar > >, aligator::PinocchioLieGroup< pin::SpecialOrthogonalOperationTpl< D, Scalar > >, aligator::PinocchioLieGroup< pin::SpecialOrthogonalOperationTpl< D, Scalar > >, aligator::TangentBundleTpl< Base >, aligator::TangentBundleTpl< MultibodyConfiguration< Scalar > >, aligator::VectorSpaceTpl< _Scalar, _Dim >, aligator::VectorSpaceTpl< Scalar >, aligator::VectorSpaceTpl< Scalar >, aligator::VectorSpaceTpl< Scalar, 7 >, aligator::VectorSpaceTpl< Scalar, 7 >, aligator::VectorSpaceTpl< Scalar, Eigen::Dynamic >, and aligator::VectorSpaceTpl< Scalar, Eigen::Dynamic >.

◆ Jintegrate_impl()

template<typename _Scalar>

virtual void aligator::ManifoldAbstractTpl< _Scalar >::Jintegrate_impl	(	const ConstVectorRef &	x,
		const ConstVectorRef &	v,
		MatrixRef	Jout,
		int	arg ) const

protectedpure virtual

Implemented in aligator::CartesianProductTpl< _Scalar >, aligator::CartesianProductTpl< Scalar >, aligator::CartesianProductTpl< Scalar >, aligator::compat::croc::StateWrapperTpl< _Scalar >, aligator::compat::croc::StateWrapperTpl< Scalar >, aligator::compat::croc::StateWrapperTpl< Scalar >, aligator::MultibodyConfiguration< _Scalar >, aligator::MultibodyConfiguration< Scalar >, aligator::MultibodyConfiguration< Scalar >, aligator::PinocchioLieGroup< _LieGroup >, aligator::PinocchioLieGroup< pin::SpecialEuclideanOperationTpl< D, Scalar > >, aligator::PinocchioLieGroup< pin::SpecialEuclideanOperationTpl< D, Scalar > >, aligator::PinocchioLieGroup< pin::SpecialOrthogonalOperationTpl< D, Scalar > >, aligator::PinocchioLieGroup< pin::SpecialOrthogonalOperationTpl< D, Scalar > >, aligator::TangentBundleTpl< Base >, aligator::TangentBundleTpl< MultibodyConfiguration< Scalar > >, aligator::VectorSpaceTpl< _Scalar, _Dim >, aligator::VectorSpaceTpl< Scalar >, aligator::VectorSpaceTpl< Scalar >, aligator::VectorSpaceTpl< Scalar, 7 >, aligator::VectorSpaceTpl< Scalar, 7 >, aligator::VectorSpaceTpl< Scalar, Eigen::Dynamic >, and aligator::VectorSpaceTpl< Scalar, Eigen::Dynamic >.

◆ JintegrateTransport_impl()

template<typename _Scalar>

virtual void aligator::ManifoldAbstractTpl< _Scalar >::JintegrateTransport_impl	(	const ConstVectorRef &	x,
		const ConstVectorRef &	v,
		MatrixRef	Jout,
		int	arg ) const

protectedpure virtual

Implemented in aligator::CartesianProductTpl< _Scalar >, aligator::CartesianProductTpl< Scalar >, aligator::CartesianProductTpl< Scalar >, aligator::compat::croc::StateWrapperTpl< _Scalar >, aligator::compat::croc::StateWrapperTpl< Scalar >, aligator::compat::croc::StateWrapperTpl< Scalar >, aligator::MultibodyConfiguration< _Scalar >, aligator::MultibodyConfiguration< Scalar >, aligator::MultibodyConfiguration< Scalar >, aligator::PinocchioLieGroup< _LieGroup >, aligator::PinocchioLieGroup< pin::SpecialEuclideanOperationTpl< D, Scalar > >, aligator::PinocchioLieGroup< pin::SpecialEuclideanOperationTpl< D, Scalar > >, aligator::PinocchioLieGroup< pin::SpecialOrthogonalOperationTpl< D, Scalar > >, aligator::PinocchioLieGroup< pin::SpecialOrthogonalOperationTpl< D, Scalar > >, aligator::TangentBundleTpl< Base >, aligator::TangentBundleTpl< MultibodyConfiguration< Scalar > >, aligator::VectorSpaceTpl< _Scalar, _Dim >, aligator::VectorSpaceTpl< Scalar >, aligator::VectorSpaceTpl< Scalar >, aligator::VectorSpaceTpl< Scalar, 7 >, aligator::VectorSpaceTpl< Scalar, 7 >, aligator::VectorSpaceTpl< Scalar, Eigen::Dynamic >, and aligator::VectorSpaceTpl< Scalar, Eigen::Dynamic >.

◆ difference_impl()

template<typename _Scalar>

virtual void aligator::ManifoldAbstractTpl< _Scalar >::difference_impl	(	const ConstVectorRef &	x0,
		const ConstVectorRef &	x1,
		VectorRef	out ) const

protectedpure virtual

Implementation of the manifold retraction operation.

Implemented in aligator::CartesianProductTpl< _Scalar >, aligator::CartesianProductTpl< Scalar >, aligator::CartesianProductTpl< Scalar >, aligator::compat::croc::StateWrapperTpl< _Scalar >, aligator::compat::croc::StateWrapperTpl< Scalar >, aligator::compat::croc::StateWrapperTpl< Scalar >, aligator::MultibodyConfiguration< _Scalar >, aligator::MultibodyConfiguration< Scalar >, aligator::MultibodyConfiguration< Scalar >, aligator::PinocchioLieGroup< _LieGroup >, aligator::PinocchioLieGroup< pin::SpecialEuclideanOperationTpl< D, Scalar > >, aligator::PinocchioLieGroup< pin::SpecialEuclideanOperationTpl< D, Scalar > >, aligator::PinocchioLieGroup< pin::SpecialOrthogonalOperationTpl< D, Scalar > >, aligator::PinocchioLieGroup< pin::SpecialOrthogonalOperationTpl< D, Scalar > >, aligator::TangentBundleTpl< Base >, aligator::TangentBundleTpl< MultibodyConfiguration< Scalar > >, aligator::VectorSpaceTpl< _Scalar, _Dim >, aligator::VectorSpaceTpl< Scalar >, aligator::VectorSpaceTpl< Scalar >, aligator::VectorSpaceTpl< Scalar, 7 >, aligator::VectorSpaceTpl< Scalar, 7 >, aligator::VectorSpaceTpl< Scalar, Eigen::Dynamic >, and aligator::VectorSpaceTpl< Scalar, Eigen::Dynamic >.

◆ Jdifference_impl()

template<typename _Scalar>

virtual void aligator::ManifoldAbstractTpl< _Scalar >::Jdifference_impl	(	const ConstVectorRef &	x0,
		const ConstVectorRef &	x1,
		MatrixRef	Jout,
		int	arg ) const

protectedpure virtual

Implemented in aligator::CartesianProductTpl< _Scalar >, aligator::CartesianProductTpl< Scalar >, aligator::CartesianProductTpl< Scalar >, aligator::compat::croc::StateWrapperTpl< _Scalar >, aligator::compat::croc::StateWrapperTpl< Scalar >, aligator::compat::croc::StateWrapperTpl< Scalar >, aligator::MultibodyConfiguration< _Scalar >, aligator::MultibodyConfiguration< Scalar >, aligator::MultibodyConfiguration< Scalar >, aligator::PinocchioLieGroup< _LieGroup >, aligator::PinocchioLieGroup< pin::SpecialEuclideanOperationTpl< D, Scalar > >, aligator::PinocchioLieGroup< pin::SpecialEuclideanOperationTpl< D, Scalar > >, aligator::PinocchioLieGroup< pin::SpecialOrthogonalOperationTpl< D, Scalar > >, aligator::PinocchioLieGroup< pin::SpecialOrthogonalOperationTpl< D, Scalar > >, aligator::TangentBundleTpl< Base >, aligator::TangentBundleTpl< MultibodyConfiguration< Scalar > >, aligator::VectorSpaceTpl< _Scalar, _Dim >, aligator::VectorSpaceTpl< Scalar >, aligator::VectorSpaceTpl< Scalar >, aligator::VectorSpaceTpl< Scalar, 7 >, aligator::VectorSpaceTpl< Scalar, 7 >, aligator::VectorSpaceTpl< Scalar, Eigen::Dynamic >, and aligator::VectorSpaceTpl< Scalar, Eigen::Dynamic >.

◆ interpolate_impl()

template<typename _Scalar>

virtual void aligator::ManifoldAbstractTpl< _Scalar >::interpolate_impl	(	const ConstVectorRef &	x0,
		const ConstVectorRef &	x1,
		const Scalar &	u,
		VectorRef	out ) const

inlineprotectedvirtual

Interpolation operation.

Reimplemented in aligator::MultibodyConfiguration< _Scalar >, aligator::MultibodyConfiguration< Scalar >, aligator::MultibodyConfiguration< Scalar >, aligator::TangentBundleTpl< Base >, aligator::TangentBundleTpl< MultibodyConfiguration< Scalar > >, aligator::VectorSpaceTpl< _Scalar, _Dim >, aligator::VectorSpaceTpl< Scalar >, aligator::VectorSpaceTpl< Scalar >, aligator::VectorSpaceTpl< Scalar, 7 >, aligator::VectorSpaceTpl< Scalar, 7 >, aligator::VectorSpaceTpl< Scalar, Eigen::Dynamic >, and aligator::VectorSpaceTpl< Scalar, Eigen::Dynamic >.

Definition at line 138 of file manifold-base.hpp.

◆ neutral_impl()

template<typename _Scalar>

virtual void aligator::ManifoldAbstractTpl< _Scalar >::neutral_impl ( VectorRef out ) const

inlineprotectedvirtual

Reimplemented in aligator::CartesianProductTpl< _Scalar >, aligator::CartesianProductTpl< Scalar >, aligator::CartesianProductTpl< Scalar >, aligator::compat::croc::StateWrapperTpl< _Scalar >, aligator::compat::croc::StateWrapperTpl< Scalar >, aligator::compat::croc::StateWrapperTpl< Scalar >, aligator::MultibodyConfiguration< _Scalar >, aligator::MultibodyConfiguration< Scalar >, aligator::MultibodyConfiguration< Scalar >, aligator::PinocchioLieGroup< _LieGroup >, aligator::PinocchioLieGroup< pin::SpecialEuclideanOperationTpl< D, Scalar > >, aligator::PinocchioLieGroup< pin::SpecialEuclideanOperationTpl< D, Scalar > >, aligator::PinocchioLieGroup< pin::SpecialOrthogonalOperationTpl< D, Scalar > >, aligator::PinocchioLieGroup< pin::SpecialOrthogonalOperationTpl< D, Scalar > >, aligator::TangentBundleTpl< Base >, and aligator::TangentBundleTpl< MultibodyConfiguration< Scalar > >.

Definition at line 145 of file manifold-base.hpp.

◆ rand_impl()

template<typename _Scalar>

virtual void aligator::ManifoldAbstractTpl< _Scalar >::rand_impl ( VectorRef out ) const

inlineprotectedvirtual

Reimplemented in aligator::CartesianProductTpl< _Scalar >, aligator::CartesianProductTpl< Scalar >, aligator::CartesianProductTpl< Scalar >, aligator::compat::croc::StateWrapperTpl< _Scalar >, aligator::compat::croc::StateWrapperTpl< Scalar >, aligator::compat::croc::StateWrapperTpl< Scalar >, aligator::MultibodyConfiguration< _Scalar >, aligator::MultibodyConfiguration< Scalar >, aligator::MultibodyConfiguration< Scalar >, aligator::PinocchioLieGroup< _LieGroup >, aligator::PinocchioLieGroup< pin::SpecialEuclideanOperationTpl< D, Scalar > >, aligator::PinocchioLieGroup< pin::SpecialEuclideanOperationTpl< D, Scalar > >, aligator::PinocchioLieGroup< pin::SpecialOrthogonalOperationTpl< D, Scalar > >, aligator::PinocchioLieGroup< pin::SpecialOrthogonalOperationTpl< D, Scalar > >, aligator::TangentBundleTpl< Base >, and aligator::TangentBundleTpl< MultibodyConfiguration< Scalar > >.

Definition at line 150 of file manifold-base.hpp.

The documentation for this struct was generated from the following file:

include/aligator/core/manifold-base.hpp

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ TangentSpaceType

Constructor & Destructor Documentation

◆ ~ManifoldAbstractTpl()

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ nx()

◆ ndx()

◆ neutral() [1/2]

◆ neutral() [2/2]

◆ rand() [1/2]

◆ rand() [2/2]

◆ isNormalized()

◆ tangentSpace()

◆ integrate() [1/2]

◆ Jintegrate()

◆ JintegrateTransport()

◆ difference() [1/2]

◆ Jdifference()

◆ interpolate() [1/2]

◆ integrate() [2/2]

◆ difference() [2/2]

◆ interpolate() [2/2]

◆ integrate_impl()

◆ Jintegrate_impl()

◆ JintegrateTransport_impl()

◆ difference_impl()

◆ Jdifference_impl()

◆ interpolate_impl()

◆ neutral_impl()

◆ rand_impl()