Multibody configuration group \(\mathcal{Q}\), defined using the Pinocchio library. More...

#include <aligator/modelling/spaces/multibody.hpp>

Inheritance diagram for aligator::MultibodyConfiguration< _Scalar >:

Collaboration diagram for aligator::MultibodyConfiguration< _Scalar >:

Public Types
using	Scalar = _Scalar

using	Self = MultibodyConfiguration<Scalar>

using	ModelType = pinocchio::ModelTpl<Scalar>

using	Base = ManifoldAbstractTpl<Scalar>

Public Types inherited from aligator::ManifoldAbstractTpl< _Scalar >
using	Scalar = _Scalar

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

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	MultibodyConfiguration (const ModelType &model)

	MultibodyConfiguration (const MultibodyConfiguration &)=default

MultibodyConfiguration &	operator= (const MultibodyConfiguration &)=default

	MultibodyConfiguration (MultibodyConfiguration &&)=default

MultibodyConfiguration &	operator= (MultibodyConfiguration &&)=default

const ModelType &	getModel () const

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

int	nx () const
	Get manifold representation dimension.

int	ndx () const
	Get manifold tangent space dimension.

Public Member Functions inherited from aligator::ManifoldAbstractTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	Scalar type.

virtual	~ManifoldAbstractTpl ()=default

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.

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

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

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
implementations
void	integrate_impl (const ConstVectorRef &x, const ConstVectorRef &v, VectorRef xout) const
	Perform the manifold integration operation.

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

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

void	difference_impl (const ConstVectorRef &x0, const ConstVectorRef &x1, VectorRef vout) const
	Implementation of the manifold retraction operation.

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

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

void	neutral_impl (VectorRef out) const

void	rand_impl (VectorRef out) const

Protected Attributes
ModelType	model_

Detailed Description

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

Multibody configuration group \(\mathcal{Q}\), defined using the Pinocchio library.

This uses a pinocchio::ModelTpl object to define the manifold.

Definition at line 17 of file multibody.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar>

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

Definition at line 19 of file multibody.hpp.

◆ Self

template<typename _Scalar>

using aligator::MultibodyConfiguration< _Scalar >::Self = MultibodyConfiguration<Scalar>

Definition at line 21 of file multibody.hpp.

◆ ModelType

template<typename _Scalar>

using aligator::MultibodyConfiguration< _Scalar >::ModelType = pinocchio::ModelTpl<Scalar>

Definition at line 22 of file multibody.hpp.

◆ Base

template<typename _Scalar>

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

Definition at line 23 of file multibody.hpp.

Constructor & Destructor Documentation

◆ MultibodyConfiguration() [1/3]

template<typename _Scalar>

aligator::MultibodyConfiguration< _Scalar >::MultibodyConfiguration ( const ModelType & model )

inline

Definition at line 25 of file multibody.hpp.

◆ MultibodyConfiguration() [2/3]

template<typename _Scalar>

aligator::MultibodyConfiguration< _Scalar >::MultibodyConfiguration ( const MultibodyConfiguration< _Scalar > & )

default

◆ MultibodyConfiguration() [3/3]

template<typename _Scalar>

aligator::MultibodyConfiguration< _Scalar >::MultibodyConfiguration ( MultibodyConfiguration< _Scalar > && )

default

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

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

◆ operator=() [1/2]

template<typename _Scalar>

MultibodyConfiguration & aligator::MultibodyConfiguration< _Scalar >::operator= ( const MultibodyConfiguration< _Scalar > & )

default

◆ operator=() [2/2]

template<typename _Scalar>

MultibodyConfiguration & aligator::MultibodyConfiguration< _Scalar >::operator= ( MultibodyConfiguration< _Scalar > && )

default

◆ getModel()

template<typename _Scalar>

const ModelType & aligator::MultibodyConfiguration< _Scalar >::getModel ( ) const

inline

Definition at line 32 of file multibody.hpp.

◆ isNormalized()

template<typename _Scalar>

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

inlinevirtual

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

Reimplemented from aligator::ManifoldAbstractTpl< _Scalar >.

Definition at line 34 of file multibody.hpp.

◆ nx()

template<typename _Scalar>

int aligator::MultibodyConfiguration< _Scalar >::nx ( ) const

inlinevirtual

Get manifold representation dimension.

Implements aligator::ManifoldAbstractTpl< _Scalar >.

Definition at line 38 of file multibody.hpp.

◆ ndx()

template<typename _Scalar>

int aligator::MultibodyConfiguration< _Scalar >::ndx ( ) const

inlinevirtual

Get manifold tangent space dimension.

Implements aligator::ManifoldAbstractTpl< _Scalar >.

Definition at line 39 of file multibody.hpp.

◆ integrate_impl()

template<typename _Scalar>

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

inlineprotectedvirtual

Perform the manifold integration operation.

Implements aligator::ManifoldAbstractTpl< _Scalar >.

Definition at line 47 of file multibody.hpp.

◆ Jintegrate_impl()

template<typename _Scalar>

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

inlineprotectedvirtual

Implements aligator::ManifoldAbstractTpl< _Scalar >.

Definition at line 52 of file multibody.hpp.

◆ JintegrateTransport_impl()

template<typename _Scalar>

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

inlineprotectedvirtual

Implements aligator::ManifoldAbstractTpl< _Scalar >.

Definition at line 64 of file multibody.hpp.

◆ difference_impl()

template<typename _Scalar>

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

inlineprotectedvirtual

Implementation of the manifold retraction operation.

Implements aligator::ManifoldAbstractTpl< _Scalar >.

Definition at line 79 of file multibody.hpp.

◆ Jdifference_impl()

template<typename _Scalar>

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

inlineprotectedvirtual

Implements aligator::ManifoldAbstractTpl< _Scalar >.

Definition at line 84 of file multibody.hpp.

◆ interpolate_impl()

template<typename _Scalar>

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

inlineprotectedvirtual

Interpolation operation.

Reimplemented from aligator::ManifoldAbstractTpl< _Scalar >.

Definition at line 96 of file multibody.hpp.

◆ neutral_impl()

template<typename _Scalar>

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

inlineprotectedvirtual

Reimplemented from aligator::ManifoldAbstractTpl< _Scalar >.

Definition at line 101 of file multibody.hpp.

◆ rand_impl()

template<typename _Scalar>

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

inlineprotectedvirtual

Reimplemented from aligator::ManifoldAbstractTpl< _Scalar >.

Definition at line 103 of file multibody.hpp.

Member Data Documentation

◆ model_

template<typename _Scalar>

ModelType aligator::MultibodyConfiguration< _Scalar >::model_

protected

Definition at line 42 of file multibody.hpp.

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

include/aligator/modelling/multibody/context.hpp
include/aligator/modelling/spaces/multibody.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ Self

◆ ModelType

◆ Base

Constructor & Destructor Documentation

◆ MultibodyConfiguration() [1/3]

◆ MultibodyConfiguration() [2/3]

◆ MultibodyConfiguration() [3/3]

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ getModel()

◆ isNormalized()

◆ nx()

◆ ndx()

◆ integrate_impl()

◆ Jintegrate_impl()

◆ JintegrateTransport_impl()

◆ difference_impl()

◆ Jdifference_impl()

◆ interpolate_impl()

◆ neutral_impl()

◆ rand_impl()

Member Data Documentation

◆ model_