aligator  0.16.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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aligator::VectorSpaceTpl< _Scalar, _Dim > Struct Template Reference

Standard Euclidean vector space. More...

#include <aligator/core/vector-space.hpp>

Inheritance diagram for aligator::VectorSpaceTpl< _Scalar, _Dim >:
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Collaboration diagram for aligator::VectorSpaceTpl< _Scalar, _Dim >:
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Public Types

using Scalar = _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)
 
 VectorSpaceTpl (const int dim)
 Default constructor where the dimension is supplied.
 
int dim () const
 
template<int N = Dim, typename = typename std::enable_if_t<N != Eigen::Dynamic>>
 VectorSpaceTpl ()
 Default constructor without arguments.
 
template<int OtherDim>
 VectorSpaceTpl (const VectorSpaceTpl< Scalar, OtherDim > &other)
 Build from VectorSpaceTpl of different dimension.
 
int ndx () const
 Get manifold tangent space dimension.
 
int nx () const
 Get manifold representation dimension.
 
- Public Member Functions inherited from aligator::ManifoldAbstractTpl< _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.
 
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.
 
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.
 

Static Public Attributes

static constexpr int Dim = _Dim
 

Protected Member Functions

implementations
void integrate_impl (const ConstVectorRef &x, const ConstVectorRef &v, VectorRef out) const
 Perform the manifold integration operation.
 
void Jintegrate_impl (const ConstVectorRef &, const ConstVectorRef &, MatrixRef Jout, int) const
 
void JintegrateTransport_impl (const ConstVectorRef &, const ConstVectorRef &, MatrixRef, int) const
 
void difference_impl (const ConstVectorRef &x0, const ConstVectorRef &x1, VectorRef out) const
 Implementation of the manifold retraction operation.
 
void Jdifference_impl (const ConstVectorRef &, const ConstVectorRef &, MatrixRef Jout, int arg) const
 
void interpolate_impl (const ConstVectorRef &x0, const ConstVectorRef &x1, const Scalar &u, VectorRef out) const
 Interpolation operation.
 
- Protected Member Functions inherited from aligator::ManifoldAbstractTpl< _Scalar >
virtual void neutral_impl (VectorRef out) const
 
virtual void rand_impl (VectorRef out) const
 

Additional Inherited Members

- Protected Attributes inherited from aligator::ManifoldAbstractTpl< _Scalar >
int nx_
 
int ndx_
 

Detailed Description

template<typename _Scalar, int _Dim>
struct aligator::VectorSpaceTpl< _Scalar, _Dim >

Standard Euclidean vector space.

Definition at line 13 of file vector-space.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar, int _Dim>
using aligator::VectorSpaceTpl< _Scalar, _Dim >::Scalar = _Scalar

Definition at line 14 of file vector-space.hpp.

◆ Base

template<typename _Scalar, int _Dim>
using aligator::VectorSpaceTpl< _Scalar, _Dim >::Base = ManifoldAbstractTpl<Scalar>

Definition at line 16 of file vector-space.hpp.

Constructor & Destructor Documentation

◆ VectorSpaceTpl() [1/3]

template<typename _Scalar, int _Dim>
aligator::VectorSpaceTpl< _Scalar, _Dim >::VectorSpaceTpl ( const int dim)
inlineexplicit

Default constructor where the dimension is supplied.

Definition at line 22 of file vector-space.hpp.

◆ VectorSpaceTpl() [2/3]

template<typename _Scalar, int _Dim>
template<int N = Dim, typename = typename std::enable_if_t<N != Eigen::Dynamic>>
aligator::VectorSpaceTpl< _Scalar, _Dim >::VectorSpaceTpl ( )
inlineexplicit

Default constructor without arguments.

This constructor is disabled if the dimension is not known at compile time.

Definition at line 37 of file vector-space.hpp.

◆ VectorSpaceTpl() [3/3]

template<typename _Scalar, int _Dim>
template<int OtherDim>
aligator::VectorSpaceTpl< _Scalar, _Dim >::VectorSpaceTpl ( const VectorSpaceTpl< Scalar, OtherDim > & other)
inline

Build from VectorSpaceTpl of different dimension.

Definition at line 42 of file vector-space.hpp.

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar, int _Dim>
aligator::VectorSpaceTpl< _Scalar, _Dim >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ dim()

template<typename _Scalar, int _Dim>
int aligator::VectorSpaceTpl< _Scalar, _Dim >::dim ( ) const
inline

Definition at line 29 of file vector-space.hpp.

◆ integrate_impl()

template<typename _Scalar, int _Dim>
void aligator::VectorSpaceTpl< _Scalar, _Dim >::integrate_impl ( const ConstVectorRef & x,
const ConstVectorRef & v,
VectorRef out ) const
inlineprotectedvirtual

Perform the manifold integration operation.

Implements aligator::ManifoldAbstractTpl< _Scalar >.

Definition at line 52 of file vector-space.hpp.

◆ Jintegrate_impl()

template<typename _Scalar, int _Dim>
void aligator::VectorSpaceTpl< _Scalar, _Dim >::Jintegrate_impl ( const ConstVectorRef & ,
const ConstVectorRef & ,
MatrixRef Jout,
int  ) const
inlineprotectedvirtual

Implements aligator::ManifoldAbstractTpl< _Scalar >.

Definition at line 57 of file vector-space.hpp.

◆ JintegrateTransport_impl()

template<typename _Scalar, int _Dim>
void aligator::VectorSpaceTpl< _Scalar, _Dim >::JintegrateTransport_impl ( const ConstVectorRef & ,
const ConstVectorRef & ,
MatrixRef ,
int  ) const
inlineprotectedvirtual

Implements aligator::ManifoldAbstractTpl< _Scalar >.

Definition at line 62 of file vector-space.hpp.

◆ difference_impl()

template<typename _Scalar, int _Dim>
void aligator::VectorSpaceTpl< _Scalar, _Dim >::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 67 of file vector-space.hpp.

◆ Jdifference_impl()

template<typename _Scalar, int _Dim>
void aligator::VectorSpaceTpl< _Scalar, _Dim >::Jdifference_impl ( const ConstVectorRef & ,
const ConstVectorRef & ,
MatrixRef Jout,
int arg ) const
inlineprotectedvirtual

Implements aligator::ManifoldAbstractTpl< _Scalar >.

Definition at line 72 of file vector-space.hpp.

◆ interpolate_impl()

template<typename _Scalar, int _Dim>
void aligator::VectorSpaceTpl< _Scalar, _Dim >::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 86 of file vector-space.hpp.

◆ ndx()

template<typename _Scalar, int _Dim>
int aligator::ManifoldAbstractTpl< Scalar >::ndx ( ) const
inline

Get manifold tangent space dimension.

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

◆ nx()

template<typename _Scalar, int _Dim>
int aligator::ManifoldAbstractTpl< Scalar >::nx ( ) const
inline

Get manifold representation dimension.

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

Member Data Documentation

◆ Dim

template<typename _Scalar, int _Dim>
int aligator::VectorSpaceTpl< _Scalar, _Dim >::Dim = _Dim
staticconstexpr

Definition at line 15 of file vector-space.hpp.


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