Wraps a crocoddyl::StateAbstractTpl to a manifold (aligator::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	TangentVectorType = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>

using	Base = ManifoldAbstractTpl<Scalar>

using	StateAbstract = crocoddyl::StateAbstractTpl<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)

	StateWrapperTpl (const shared_ptr< StateAbstract > &state)

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

Public Attributes
shared_ptr< StateAbstract >	croc_state

Protected Member Functions
void	neutral_impl (VectorRef out) const

void	rand_impl (VectorRef out) const

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

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
	Implementation of the manifold retraction operation.

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

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

Protected Member Functions inherited from aligator::ManifoldAbstractTpl< _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< _Scalar >
int	nx_

int	ndx_

Detailed Description

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

Wraps a crocoddyl::StateAbstractTpl to a manifold (aligator::ManifoldAbstractTpl).

Definition at line 14 of file state-wrap.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar>

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

Definition at line 16 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 18 of file state-wrap.hpp.

◆ Base

template<typename _Scalar>

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

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

◆ StateAbstract

template<typename _Scalar>

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

Definition at line 23 of file state-wrap.hpp.

Constructor & Destructor Documentation

◆ StateWrapperTpl()

template<typename _Scalar>

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

inlineexplicit

Definition at line 27 of file state-wrap.hpp.

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

aligator::compat::croc::StateWrapperTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ convert_to_firstsecond()

template<typename _Scalar>

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

inlinestatic

Definition at line 31 of file state-wrap.hpp.

◆ neutral_impl()

template<typename _Scalar>

void aligator::compat::croc::StateWrapperTpl< _Scalar >::neutral_impl ( VectorRef out ) const

inlineprotectedvirtual

Reimplemented from aligator::ManifoldAbstractTpl< _Scalar >.

Definition at line 42 of file state-wrap.hpp.

◆ rand_impl()

template<typename _Scalar>

void aligator::compat::croc::StateWrapperTpl< _Scalar >::rand_impl ( VectorRef out ) const

inlineprotectedvirtual

Reimplemented from aligator::ManifoldAbstractTpl< _Scalar >.

Definition at line 44 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

inlineprotectedvirtual

Perform the manifold integration operation.

Implements aligator::ManifoldAbstractTpl< _Scalar >.

Definition at line 46 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

inlineprotectedvirtual

Implements aligator::ManifoldAbstractTpl< _Scalar >.

Definition at line 51 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

inlineprotectedvirtual

Implementation of the manifold retraction operation.

Implements aligator::ManifoldAbstractTpl< _Scalar >.

Definition at line 56 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

inlineprotectedvirtual

Implements aligator::ManifoldAbstractTpl< _Scalar >.

Definition at line 61 of file state-wrap.hpp.

◆ JintegrateTransport_impl()

template<typename _Scalar>

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

inlineprotectedvirtual

Implements aligator::ManifoldAbstractTpl< _Scalar >.

Definition at line 66 of file state-wrap.hpp.

◆ ndx()

template<typename _Scalar>

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

inline

Get manifold representation dimension.

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

Member Data Documentation

◆ croc_state

template<typename _Scalar>

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

Definition at line 25 of file state-wrap.hpp.

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

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

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ TangentVectorType

◆ Base

◆ StateAbstract

Constructor & Destructor Documentation

◆ StateWrapperTpl()

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ convert_to_firstsecond()

◆ neutral_impl()

◆ rand_impl()

◆ integrate_impl()

◆ Jintegrate_impl()

◆ difference_impl()

◆ Jdifference_impl()

◆ JintegrateTransport_impl()

◆ ndx()

◆ nx()

Member Data Documentation

◆ croc_state