Wrap a Pinocchio Lie group into a ManifoldAbstractTpl object. More...

#include <aligator/modelling/spaces/pinocchio-groups.hpp>

Inheritance diagram for aligator::PinocchioLieGroup< G, >:

Collaboration diagram for aligator::PinocchioLieGroup< G, >:

Public Types
using	LieGroup = G

using	Scalar = typename LieGroup::Scalar

using	Base = ManifoldAbstractTpl<Scalar>

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

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

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	PinocchioLieGroup ()

	PinocchioLieGroup (const LieGroup &lg)

	PinocchioLieGroup (const PinocchioLieGroup &lg)=default

	PinocchioLieGroup (PinocchioLieGroup &&lg)=default

template<typename... Args>
	PinocchioLieGroup (Args &&...args)

	operator LieGroup () const

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

int	ndx () const
	Get manifold tangent space dimension.

int	nx () const
	Get manifold representation dimension.

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

	ManifoldAbstractTpl (int nx, int ndx)

virtual	~ManifoldAbstractTpl ()=default

int	nx () const
	Get manifold representation dimension.

int	ndx () const
	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.

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.

Public Attributes
LieGroup	lg_

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

void	difference_impl (const ConstVectorRef &x0, const ConstVectorRef &x1, VectorRef vout) 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

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

virtual void	neutral_impl (VectorRef out) const

virtual void	rand_impl (VectorRef out) const

Protected Member Functions inherited from aligator::ManifoldAbstractTpl< G::Scalar >
virtual void	interpolate_impl (const ConstVectorRef &x0, const ConstVectorRef &x1, const Scalar &u, VectorRef out) const
	Interpolation operation.

Additional Inherited Members
Protected Attributes inherited from aligator::ManifoldAbstractTpl< G::Scalar >
int	nx_

int	ndx_

Detailed Description

template<typename G, std::enable_if_t< is_pinocchio_lie_group< G > > * = nullptr>
struct aligator::PinocchioLieGroup< G, >

Wrap a Pinocchio Lie group into a ManifoldAbstractTpl object.

Definition at line 23 of file pinocchio-groups.hpp.

Member Typedef Documentation

◆ LieGroup

template<typename G, std::enable_if_t< is_pinocchio_lie_group< G > > * = nullptr>

using aligator::PinocchioLieGroup< G, >::LieGroup = G

Definition at line 25 of file pinocchio-groups.hpp.

◆ Scalar

template<typename G, std::enable_if_t< is_pinocchio_lie_group< G > > * = nullptr>

using aligator::PinocchioLieGroup< G, >::Scalar = typename LieGroup::Scalar

Definition at line 26 of file pinocchio-groups.hpp.

◆ Base

template<typename G, std::enable_if_t< is_pinocchio_lie_group< G > > * = nullptr>

using aligator::PinocchioLieGroup< G, >::Base = ManifoldAbstractTpl<Scalar>

Definition at line 27 of file pinocchio-groups.hpp.

Constructor & Destructor Documentation

◆ PinocchioLieGroup() [1/5]

template<typename G, std::enable_if_t< is_pinocchio_lie_group< G > > * = nullptr>

aligator::PinocchioLieGroup< G, >::PinocchioLieGroup ( )

inline

Definition at line 34 of file pinocchio-groups.hpp.

◆ PinocchioLieGroup() [2/5]

template<typename G, std::enable_if_t< is_pinocchio_lie_group< G > > * = nullptr>

aligator::PinocchioLieGroup< G, >::PinocchioLieGroup ( const LieGroup & lg )

inline

Definition at line 39 of file pinocchio-groups.hpp.

◆ PinocchioLieGroup() [3/5]

template<typename G, std::enable_if_t< is_pinocchio_lie_group< G > > * = nullptr>

aligator::PinocchioLieGroup< G, >::PinocchioLieGroup ( const PinocchioLieGroup< G, > & lg )

default

◆ PinocchioLieGroup() [4/5]

template<typename G, std::enable_if_t< is_pinocchio_lie_group< G > > * = nullptr>

aligator::PinocchioLieGroup< G, >::PinocchioLieGroup ( PinocchioLieGroup< G, > && lg )

default

◆ PinocchioLieGroup() [5/5]

template<typename G, std::enable_if_t< is_pinocchio_lie_group< G > > * = nullptr>

template<typename... Args>

aligator::PinocchioLieGroup< G, >::PinocchioLieGroup ( Args &&... args )

inline

Definition at line 46 of file pinocchio-groups.hpp.

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename G, std::enable_if_t< is_pinocchio_lie_group< G > > * = nullptr>

aligator::PinocchioLieGroup< G, >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ operator LieGroup()

template<typename G, std::enable_if_t< is_pinocchio_lie_group< G > > * = nullptr>

aligator::PinocchioLieGroup< G, >::operator LieGroup ( ) const

inline

Definition at line 53 of file pinocchio-groups.hpp.

◆ isNormalized()

template<typename G, std::enable_if_t< is_pinocchio_lie_group< G > > * = nullptr>

bool aligator::PinocchioLieGroup< G, >::isNormalized ( const ConstVectorRef & ) const

inlinevirtual

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

Reimplemented from aligator::ManifoldAbstractTpl< G::Scalar >.

Definition at line 55 of file pinocchio-groups.hpp.

◆ integrate_impl()

template<typename G, std::enable_if_t< is_pinocchio_lie_group< G > > * = nullptr>

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

inlineprotectedvirtual

Perform the manifold integration operation.

Implements aligator::ManifoldAbstractTpl< G::Scalar >.

Definition at line 64 of file pinocchio-groups.hpp.

◆ difference_impl()

template<typename G, std::enable_if_t< is_pinocchio_lie_group< G > > * = nullptr>

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

inlineprotectedvirtual

Implementation of the manifold retraction operation.

Implements aligator::ManifoldAbstractTpl< G::Scalar >.

Definition at line 69 of file pinocchio-groups.hpp.

◆ Jintegrate_impl()

template<typename G, std::enable_if_t< is_pinocchio_lie_group< G > > * = nullptr>

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

inlineprotectedvirtual

Implements aligator::ManifoldAbstractTpl< G::Scalar >.

Definition at line 74 of file pinocchio-groups.hpp.

◆ JintegrateTransport_impl()

template<typename G, std::enable_if_t< is_pinocchio_lie_group< G > > * = nullptr>

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

inlineprotectedvirtual

Implements aligator::ManifoldAbstractTpl< G::Scalar >.

Definition at line 86 of file pinocchio-groups.hpp.

◆ Jdifference_impl()

template<typename G, std::enable_if_t< is_pinocchio_lie_group< G > > * = nullptr>

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

inlineprotectedvirtual

Implements aligator::ManifoldAbstractTpl< G::Scalar >.

Definition at line 92 of file pinocchio-groups.hpp.

◆ interpolate_impl()

template<typename G, std::enable_if_t< is_pinocchio_lie_group< G > > * = nullptr>

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

inlineprotectedvirtual

Definition at line 104 of file pinocchio-groups.hpp.

◆ neutral_impl()

template<typename G, std::enable_if_t< is_pinocchio_lie_group< G > > * = nullptr>

virtual void aligator::PinocchioLieGroup< G, >::neutral_impl ( VectorRef out ) const

inlineprotectedvirtual

Reimplemented from aligator::ManifoldAbstractTpl< G::Scalar >.

Definition at line 110 of file pinocchio-groups.hpp.

◆ rand_impl()

template<typename G, std::enable_if_t< is_pinocchio_lie_group< G > > * = nullptr>

virtual void aligator::PinocchioLieGroup< G, >::rand_impl ( VectorRef out ) const

inlineprotectedvirtual

Reimplemented from aligator::ManifoldAbstractTpl< G::Scalar >.

Definition at line 112 of file pinocchio-groups.hpp.

◆ ndx()

template<typename G, std::enable_if_t< is_pinocchio_lie_group< G > > * = nullptr>

int aligator::ManifoldAbstractTpl< Scalar >::ndx ( ) const

inline

Get manifold tangent space dimension.

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

◆ nx()

template<typename G, std::enable_if_t< is_pinocchio_lie_group< G > > * = nullptr>

int aligator::ManifoldAbstractTpl< Scalar >::nx ( ) const

inline

Get manifold representation dimension.

Definition at line 25 of file manifold-base.hpp.

Member Data Documentation

◆ lg_

template<typename G, std::enable_if_t< is_pinocchio_lie_group< G > > * = nullptr>

LieGroup aligator::PinocchioLieGroup< G, >::lg_

Definition at line 32 of file pinocchio-groups.hpp.

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

include/aligator/modelling/spaces/pinocchio-groups.hpp

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ LieGroup

◆ Scalar

◆ Base

Constructor & Destructor Documentation

◆ PinocchioLieGroup() [1/5]

◆ PinocchioLieGroup() [2/5]

◆ PinocchioLieGroup() [3/5]

◆ PinocchioLieGroup() [4/5]

◆ PinocchioLieGroup() [5/5]

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ operator LieGroup()

◆ isNormalized()

◆ integrate_impl()

◆ difference_impl()

◆ Jintegrate_impl()

◆ JintegrateTransport_impl()

◆ Jdifference_impl()

◆ interpolate_impl()

◆ neutral_impl()

◆ rand_impl()

◆ ndx()

◆ nx()

Member Data Documentation

◆ lg_