The tangent bundle of a multibody configuration group. More...

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

Inheritance diagram for aligator::MultibodyPhaseSpace< Scalar >:

Collaboration diagram for aligator::MultibodyPhaseSpace< Scalar >:

Public Types
using	ConfigSpace = MultibodyConfiguration<Scalar>

using	ModelType = typename ConfigSpace::ModelType

Public Types inherited from aligator::TangentBundleTpl< MultibodyConfiguration< Scalar > >
using	Self

using	Scalar

Public Types inherited from aligator::ManifoldAbstractTpl< MultibodyConfiguration< Scalar >::Scalar >
using	Scalar

using	TangentSpaceType
	Typedef for the tangent space, as a manifold.

Public Member Functions
const ModelType &	getModel () const

	MultibodyPhaseSpace (const ModelType &model)

	MultibodyPhaseSpace (const MultibodyPhaseSpace &)=default

MultibodyPhaseSpace &	operator= (const MultibodyPhaseSpace &)=default

	MultibodyPhaseSpace (MultibodyPhaseSpace &&)=default

MultibodyPhaseSpace &	operator= (MultibodyPhaseSpace &&)=default

Public Member Functions inherited from aligator::TangentBundleTpl< MultibodyConfiguration< Scalar > >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	TangentBundleTpl (MultibodyConfiguration< Scalar > base)
	Constructor using base space instance.

	TangentBundleTpl (BaseCtorArgs... args)
	Constructor using base space constructor.

int	nx () const
	Declare implementations.

int	ndx () const
	Get manifold tangent space dimension.

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

const MultibodyConfiguration< Scalar > &	getBaseSpace () const

Point::ConstSegmentReturnType	getBasePoint (const Eigen::MatrixBase< Point > &x) const

Point::SegmentReturnType	getBasePointWrite (const Eigen::MatrixBase< Point > &x) const

Tangent::ConstSegmentReturnType	getBaseTangent (const Tangent &v) const

Tangent::SegmentReturnType	getTangentHeadWrite (const Eigen::MatrixBase< Tangent > &v) const

Eigen::Block< Jac, Eigen::Dynamic, Eigen::Dynamic >	getBaseJacobian (const Eigen::MatrixBase< Jac > &J) const

Public Member Functions inherited from aligator::ManifoldAbstractTpl< MultibodyConfiguration< Scalar >::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

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

void	rand (VectorRef out) const

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

VectorXs	difference (const ConstVectorRef &x0, const ConstVectorRef &x1) const

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

Additional Inherited Members
Static Public Attributes inherited from aligator::TangentBundleTpl< MultibodyConfiguration< Scalar > >
static constexpr int	Options

Protected Member Functions inherited from aligator::TangentBundleTpl< MultibodyConfiguration< Scalar > >
void	neutral_impl (VectorRef out) const

void	rand_impl (VectorRef out) const

void	integrate_impl (const ConstVectorRef &x, const ConstVectorRef &dx, VectorRef out) const
	Perform the manifold integration operation.

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

Protected Attributes inherited from aligator::TangentBundleTpl< MultibodyConfiguration< Scalar > >
MultibodyConfiguration< Scalar >	base_

Detailed Description

template<typename Scalar>
struct aligator::MultibodyPhaseSpace< Scalar >

The tangent bundle of a multibody configuration group.

This is not a typedef, since we provide a constructor for the class. Any point on the manifold is of the form \(x = (q,v) \), where \(q \in \mathcal{Q} \) is a configuration and \(v\) is a joint velocity vector.

Definition at line 118 of file multibody.hpp.

Member Typedef Documentation

◆ ConfigSpace

template<typename Scalar>

using aligator::MultibodyPhaseSpace< Scalar >::ConfigSpace = MultibodyConfiguration<Scalar>

Definition at line 119 of file multibody.hpp.

◆ ModelType

template<typename Scalar>

using aligator::MultibodyPhaseSpace< Scalar >::ModelType = typename ConfigSpace::ModelType

Definition at line 120 of file multibody.hpp.

Constructor & Destructor Documentation

◆ MultibodyPhaseSpace() [1/3]

template<typename Scalar>

aligator::MultibodyPhaseSpace< Scalar >::MultibodyPhaseSpace ( const ModelType & model )

inline

Definition at line 124 of file multibody.hpp.

◆ MultibodyPhaseSpace() [2/3]

template<typename Scalar>

aligator::MultibodyPhaseSpace< Scalar >::MultibodyPhaseSpace ( const MultibodyPhaseSpace< Scalar > & )

default

◆ MultibodyPhaseSpace() [3/3]

template<typename Scalar>

aligator::MultibodyPhaseSpace< Scalar >::MultibodyPhaseSpace ( MultibodyPhaseSpace< Scalar > && )

default

Member Function Documentation

◆ getModel()

template<typename Scalar>

const ModelType & aligator::MultibodyPhaseSpace< Scalar >::getModel ( ) const

inline

Definition at line 122 of file multibody.hpp.

◆ operator=() [1/2]

template<typename Scalar>

MultibodyPhaseSpace & aligator::MultibodyPhaseSpace< Scalar >::operator= ( const MultibodyPhaseSpace< Scalar > & )

default

◆ operator=() [2/2]

template<typename Scalar>

MultibodyPhaseSpace & aligator::MultibodyPhaseSpace< Scalar >::operator= ( MultibodyPhaseSpace< Scalar > && )

default

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

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ConfigSpace

◆ ModelType

Constructor & Destructor Documentation

◆ MultibodyPhaseSpace() [1/3]

◆ MultibodyPhaseSpace() [2/3]

◆ MultibodyPhaseSpace() [3/3]

Member Function Documentation

◆ getModel()

◆ operator=() [1/2]

◆ operator=() [2/2]