aligator::compat::croc::StateWrapperTpl< _Scalar > Struct Template Reference

Wraps a crocoddyl::StateAbstractTpl to a manifold (proxsuite::nlp::ManifoldAbstractTpl). More...

#include <aligator/compat/crocoddyl/state-wrap.hpp>

Inheritance diagram for aligator::compat::croc::StateWrapperTpl< _Scalar >:

Collaboration diagram for aligator::compat::croc::StateWrapperTpl< _Scalar >:

Public Types
using	Scalar = _Scalar
using	PointType = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>
using	TangentVectorType = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>
using	StateAbstract = crocoddyl::StateAbstractTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	StateWrapperTpl (const boost::shared_ptr< StateAbstract > &state)
int	nx () const
int	ndx () const
PointType	neutral () const
PointType	rand () const
void	integrate_impl (const ConstVectorRef &x, const ConstVectorRef &v, VectorRef out) const
void	Jintegrate_impl (const ConstVectorRef &x, const ConstVectorRef &v, MatrixRef Jout, int arg) const
void	difference_impl (const ConstVectorRef &x0, const ConstVectorRef &x1, VectorRef out) const
void	Jdifference_impl (const ConstVectorRef &x0, const ConstVectorRef &x1, MatrixRef Jout, int arg) const
void	JintegrateTransport (const ConstVectorRef &x, const ConstVectorRef &v, MatrixRef Jout, int arg) const

Static Public Member Functions
static crocoddyl::Jcomponent	convert_to_firstsecond (int arg)

Public Attributes
boost::shared_ptr< StateAbstract >	croc_state

Detailed Description

template<typename _Scalar>
struct aligator::compat::croc::StateWrapperTpl< _Scalar >

Wraps a crocoddyl::StateAbstractTpl to a manifold (proxsuite::nlp::ManifoldAbstractTpl).

Definition at line 16 of file state-wrap.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar >

using aligator::compat::croc::StateWrapperTpl< _Scalar >::Scalar = _Scalar

Definition at line 17 of file state-wrap.hpp.

PointType

template<typename _Scalar >

using aligator::compat::croc::StateWrapperTpl< _Scalar >::PointType = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>

Definition at line 19 of file state-wrap.hpp.

TangentVectorType

template<typename _Scalar >

using aligator::compat::croc::StateWrapperTpl< _Scalar >::TangentVectorType = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>

Definition at line 20 of file state-wrap.hpp.

StateAbstract

template<typename _Scalar >

using aligator::compat::croc::StateWrapperTpl< _Scalar >::StateAbstract = crocoddyl::StateAbstractTpl<Scalar>

Definition at line 22 of file state-wrap.hpp.

Constructor & Destructor Documentation

StateWrapperTpl()

template<typename _Scalar >

aligator::compat::croc::StateWrapperTpl< _Scalar >::StateWrapperTpl ( const boost::shared_ptr< StateAbstract > & state )

inlineexplicit

Definition at line 26 of file state-wrap.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar >

aligator::compat::croc::StateWrapperTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

nx()

template<typename _Scalar >

int aligator::compat::croc::StateWrapperTpl< _Scalar >::nx ( ) const

inline

Definition at line 29 of file state-wrap.hpp.

ndx()

template<typename _Scalar >

int aligator::compat::croc::StateWrapperTpl< _Scalar >::ndx ( ) const

inline

Definition at line 30 of file state-wrap.hpp.

neutral()

template<typename _Scalar >

PointType aligator::compat::croc::StateWrapperTpl< _Scalar >::neutral ( ) const

inline

Definition at line 32 of file state-wrap.hpp.

rand()

template<typename _Scalar >

PointType aligator::compat::croc::StateWrapperTpl< _Scalar >::rand ( ) const

inline

Definition at line 33 of file state-wrap.hpp.

integrate_impl()

template<typename _Scalar >

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

inline

Definition at line 35 of file state-wrap.hpp.

Jintegrate_impl()

template<typename _Scalar >

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

inline

Definition at line 40 of file state-wrap.hpp.

difference_impl()

template<typename _Scalar >

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

inline

Definition at line 45 of file state-wrap.hpp.

Jdifference_impl()

template<typename _Scalar >

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

inline

Definition at line 50 of file state-wrap.hpp.

JintegrateTransport()

template<typename _Scalar >

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

inline

Definition at line 55 of file state-wrap.hpp.

convert_to_firstsecond()

template<typename _Scalar >

static crocoddyl::Jcomponent aligator::compat::croc::StateWrapperTpl< _Scalar >::convert_to_firstsecond ( int arg )

inlinestatic

Definition at line 60 of file state-wrap.hpp.

Member Data Documentation

croc_state

template<typename _Scalar >

boost::shared_ptr<StateAbstract> aligator::compat::croc::StateWrapperTpl< _Scalar >::croc_state

Definition at line 24 of file state-wrap.hpp.

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

• include/aligator/compat/crocoddyl/fwd.hpp
• include/aligator/compat/crocoddyl/state-wrap.hpp