#include <proxsuite-nlp/manifold-base.hpp>

Inheritance diagram for proxsuite::nlp::ManifoldAbstractTpl< _Scalar, _Options >:

Public Types
using	Scalar = _Scalar

using	TangentSpaceType = VectorSpaceTpl<Scalar, Eigen::Dynamic, Options>
	Typedef for the tangent space, as a manifold.

Public Member Functions
virtual	~ManifoldAbstractTpl ()=default

virtual int	nx () const =0
	Get manifold representation dimension.

virtual int	ndx () const =0
	Get manifold tangent space dimension.

virtual VectorXs	neutral () const
	Get the neutral element \(e \in M\) from the manifold (if this makes sense).

virtual VectorXs	rand () 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.

const TangentSpaceType	tangentSpace () const
	Return an object representing the tangent space as a manifold.

Operations
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.

virtual void	JintegrateTransport (const ConstVectorRef &x, const ConstVectorRef &v, MatrixRef Jout, int arg) const =0
	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

Allocated overloads.
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
	Scalar

Static Public Attributes
static constexpr int	Options = _Options
	Scalar type.

Protected Member Functions
virtual void	integrate_impl (const ConstVectorRef &x, const ConstVectorRef &v, VectorRef out) const =0
	Perform the manifold integration operation.

virtual void	Jintegrate_impl (const ConstVectorRef &x, const ConstVectorRef &v, MatrixRef Jout, int arg) const =0

virtual void	difference_impl (const ConstVectorRef &x0, const ConstVectorRef &x1, VectorRef out) const =0
	Implementation of the manifold retraction operation.

virtual void	Jdifference_impl (const ConstVectorRef &x0, const ConstVectorRef &x1, MatrixRef Jout, int arg) const =0

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

Detailed Description

template<typename _Scalar, int _Options>
struct proxsuite::nlp::ManifoldAbstractTpl< _Scalar, _Options >

Base class for manifolds, to use in cost funcs, solvers...

Definition at line 13 of file manifold-base.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar , int _Options>

using proxsuite::nlp::ManifoldAbstractTpl< _Scalar, _Options >::Scalar = _Scalar

Definition at line 15 of file manifold-base.hpp.

◆ TangentSpaceType

template<typename _Scalar , int _Options>

using proxsuite::nlp::ManifoldAbstractTpl< _Scalar, _Options >::TangentSpaceType = VectorSpaceTpl<Scalar, Eigen::Dynamic, Options>

Typedef for the tangent space, as a manifold.

Definition at line 37 of file manifold-base.hpp.

Constructor & Destructor Documentation

◆ ~ManifoldAbstractTpl()

template<typename _Scalar , int _Options>

virtual proxsuite::nlp::ManifoldAbstractTpl< _Scalar, _Options >::~ManifoldAbstractTpl ( )

virtualdefault

Member Function Documentation

◆ nx()

template<typename _Scalar , int _Options>

virtual int proxsuite::nlp::ManifoldAbstractTpl< _Scalar, _Options >::nx ( ) const

pure virtual

Get manifold representation dimension.

Implemented in proxsuite::nlp::CartesianProductTpl< _Scalar >, proxsuite::nlp::MultibodyConfiguration< _Scalar, _Options >, proxsuite::nlp::MultibodyConfiguration< Scalar, 0 >, proxsuite::nlp::PinocchioLieGroup< _LieGroup >, proxsuite::nlp::PinocchioLieGroup< 3, Scalar >, proxsuite::nlp::TangentBundleTpl< Base >, proxsuite::nlp::TangentBundleTpl< MultibodyConfiguration< Scalar, 0 > >, and proxsuite::nlp::VectorSpaceTpl< _Scalar, _Dim, _Options >.

◆ ndx()

template<typename _Scalar , int _Options>

virtual int proxsuite::nlp::ManifoldAbstractTpl< _Scalar, _Options >::ndx ( ) const

pure virtual

Get manifold tangent space dimension.

Implemented in proxsuite::nlp::CartesianProductTpl< _Scalar >, proxsuite::nlp::MultibodyConfiguration< _Scalar, _Options >, proxsuite::nlp::MultibodyConfiguration< Scalar, 0 >, proxsuite::nlp::PinocchioLieGroup< _LieGroup >, proxsuite::nlp::PinocchioLieGroup< 3, Scalar >, proxsuite::nlp::TangentBundleTpl< Base >, proxsuite::nlp::TangentBundleTpl< MultibodyConfiguration< Scalar, 0 > >, and proxsuite::nlp::VectorSpaceTpl< _Scalar, _Dim, _Options >.

◆ neutral()

template<typename _Scalar , int _Options>

virtual VectorXs proxsuite::nlp::ManifoldAbstractTpl< _Scalar, _Options >::neutral ( ) const

inlinevirtual

Get the neutral element \(e \in M\) from the manifold (if this makes sense).

Reimplemented in proxsuite::nlp::CartesianProductTpl< _Scalar >, proxsuite::nlp::MultibodyConfiguration< _Scalar, _Options >, proxsuite::nlp::MultibodyConfiguration< Scalar, 0 >, proxsuite::nlp::PinocchioLieGroup< _LieGroup >, proxsuite::nlp::PinocchioLieGroup< 3, Scalar >, proxsuite::nlp::TangentBundleTpl< Base >, and proxsuite::nlp::TangentBundleTpl< MultibodyConfiguration< Scalar, 0 > >.

Definition at line 29 of file manifold-base.hpp.

◆ rand()

template<typename _Scalar , int _Options>

virtual VectorXs proxsuite::nlp::ManifoldAbstractTpl< _Scalar, _Options >::rand ( ) const

inlinevirtual

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

Reimplemented in proxsuite::nlp::CartesianProductTpl< _Scalar >, proxsuite::nlp::MultibodyConfiguration< _Scalar, _Options >, proxsuite::nlp::MultibodyConfiguration< Scalar, 0 >, proxsuite::nlp::PinocchioLieGroup< _LieGroup >, proxsuite::nlp::PinocchioLieGroup< 3, Scalar >, proxsuite::nlp::TangentBundleTpl< Base >, and proxsuite::nlp::TangentBundleTpl< MultibodyConfiguration< Scalar, 0 > >.

Definition at line 31 of file manifold-base.hpp.

◆ isNormalized()

template<typename _Scalar , int _Options>

virtual bool proxsuite::nlp::ManifoldAbstractTpl< _Scalar, _Options >::isNormalized ( const ConstVectorRef & ) const

inlinevirtual

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

Reimplemented in proxsuite::nlp::CartesianProductTpl< _Scalar >, proxsuite::nlp::MultibodyConfiguration< _Scalar, _Options >, proxsuite::nlp::MultibodyConfiguration< Scalar, 0 >, proxsuite::nlp::PinocchioLieGroup< _LieGroup >, proxsuite::nlp::PinocchioLieGroup< 3, Scalar >, proxsuite::nlp::TangentBundleTpl< Base >, and proxsuite::nlp::TangentBundleTpl< MultibodyConfiguration< Scalar, 0 > >.

Definition at line 34 of file manifold-base.hpp.

◆ tangentSpace()

template<typename _Scalar , int _Options>

const TangentSpaceType proxsuite::nlp::ManifoldAbstractTpl< _Scalar, _Options >::tangentSpace ( ) const

inline

Return an object representing the tangent space as a manifold.

Definition at line 40 of file manifold-base.hpp.

◆ integrate() [1/2]

template<typename _Scalar , int _Options>

void proxsuite::nlp::ManifoldAbstractTpl< _Scalar, _Options >::integrate	(	const ConstVectorRef &	x,
		const ConstVectorRef &	v,
		VectorRef	out ) const

Manifold integration operation \(x \oplus v\).

◆ Jintegrate()

template<typename _Scalar , int _Options>

void proxsuite::nlp::ManifoldAbstractTpl< _Scalar, _Options >::Jintegrate	(	const ConstVectorRef &	x,
		const ConstVectorRef &	v,
		MatrixRef	Jout,
		int	arg ) const

Jacobian of the integation operation.

◆ JintegrateTransport()

template<typename _Scalar , int _Options>

virtual void proxsuite::nlp::ManifoldAbstractTpl< _Scalar, _Options >::JintegrateTransport	(	const ConstVectorRef &	x,
		const ConstVectorRef &	v,
		MatrixRef	Jout,
		int	arg ) const

pure virtual

Perform the parallel transport operation.

Implemented in proxsuite::nlp::CartesianProductTpl< _Scalar >, proxsuite::nlp::MultibodyConfiguration< _Scalar, _Options >, proxsuite::nlp::MultibodyConfiguration< Scalar, 0 >, proxsuite::nlp::PinocchioLieGroup< _LieGroup >, proxsuite::nlp::PinocchioLieGroup< 3, Scalar >, proxsuite::nlp::TangentBundleTpl< Base >, proxsuite::nlp::TangentBundleTpl< MultibodyConfiguration< Scalar, 0 > >, and proxsuite::nlp::VectorSpaceTpl< _Scalar, _Dim, _Options >.

◆ difference() [1/2]

template<typename _Scalar , int _Options>

void proxsuite::nlp::ManifoldAbstractTpl< _Scalar, _Options >::difference	(	const ConstVectorRef &	x0,
		const ConstVectorRef &	x1,
		VectorRef	out ) const

Manifold difference/retraction operation \(x_1 \ominus x_0\).

◆ Jdifference()

template<typename _Scalar , int _Options>

void proxsuite::nlp::ManifoldAbstractTpl< _Scalar, _Options >::Jdifference	(	const ConstVectorRef &	x0,
		const ConstVectorRef &	x1,
		MatrixRef	Jout,
		int	arg ) const

Jacobian of the retraction operation.

◆ interpolate() [1/2]

template<typename _Scalar , int _Options>

void proxsuite::nlp::ManifoldAbstractTpl< _Scalar, _Options >::interpolate	(	const ConstVectorRef &	x0,
		const ConstVectorRef &	x1,
		const Scalar &	u,
		VectorRef	out ) const

◆ integrate() [2/2]

template<typename _Scalar , int _Options>

VectorXs proxsuite::nlp::ManifoldAbstractTpl< _Scalar, _Options >::integrate	(	const ConstVectorRef &	x,
		const ConstVectorRef &	v ) const

inline

Manifold integration operation \(x \oplus v\).

Out-of-place variant of integration operator.

Definition at line 77 of file manifold-base.hpp.

◆ difference() [2/2]

template<typename _Scalar , int _Options>

VectorXs proxsuite::nlp::ManifoldAbstractTpl< _Scalar, _Options >::difference	(	const ConstVectorRef &	x0,
		const ConstVectorRef &	x1 ) const

inline

Manifold difference/retraction operation \(x_1 \ominus x_0\).

Out-of-place version of diff operator.

Definition at line 86 of file manifold-base.hpp.

◆ interpolate() [2/2]

template<typename _Scalar , int _Options>

VectorXs proxsuite::nlp::ManifoldAbstractTpl< _Scalar, _Options >::interpolate	(	const ConstVectorRef &	x0,
		const ConstVectorRef &	x1,
		const Scalar &	u ) const

inline

Interpolation operation.

Definition at line 94 of file manifold-base.hpp.

◆ integrate_impl()

template<typename _Scalar , int _Options>

virtual void proxsuite::nlp::ManifoldAbstractTpl< _Scalar, _Options >::integrate_impl	(	const ConstVectorRef &	x,
		const ConstVectorRef &	v,
		VectorRef	out ) const

protectedpure virtual

Perform the manifold integration operation.

Implemented in proxsuite::nlp::CartesianProductTpl< _Scalar >, proxsuite::nlp::MultibodyConfiguration< _Scalar, _Options >, proxsuite::nlp::MultibodyConfiguration< Scalar, 0 >, proxsuite::nlp::PinocchioLieGroup< _LieGroup >, proxsuite::nlp::PinocchioLieGroup< 3, Scalar >, proxsuite::nlp::TangentBundleTpl< Base >, proxsuite::nlp::TangentBundleTpl< MultibodyConfiguration< Scalar, 0 > >, and proxsuite::nlp::VectorSpaceTpl< _Scalar, _Dim, _Options >.

◆ Jintegrate_impl()

template<typename _Scalar , int _Options>

virtual void proxsuite::nlp::ManifoldAbstractTpl< _Scalar, _Options >::Jintegrate_impl	(	const ConstVectorRef &	x,
		const ConstVectorRef &	v,
		MatrixRef	Jout,
		int	arg ) const

protectedpure virtual

Implemented in proxsuite::nlp::CartesianProductTpl< _Scalar >, proxsuite::nlp::MultibodyConfiguration< _Scalar, _Options >, proxsuite::nlp::MultibodyConfiguration< Scalar, 0 >, proxsuite::nlp::PinocchioLieGroup< _LieGroup >, proxsuite::nlp::PinocchioLieGroup< 3, Scalar >, proxsuite::nlp::TangentBundleTpl< Base >, proxsuite::nlp::TangentBundleTpl< MultibodyConfiguration< Scalar, 0 > >, and proxsuite::nlp::VectorSpaceTpl< _Scalar, _Dim, _Options >.

◆ difference_impl()

template<typename _Scalar , int _Options>

virtual void proxsuite::nlp::ManifoldAbstractTpl< _Scalar, _Options >::difference_impl	(	const ConstVectorRef &	x0,
		const ConstVectorRef &	x1,
		VectorRef	out ) const

protectedpure virtual

Implementation of the manifold retraction operation.

Implemented in proxsuite::nlp::CartesianProductTpl< _Scalar >, proxsuite::nlp::MultibodyConfiguration< _Scalar, _Options >, proxsuite::nlp::MultibodyConfiguration< Scalar, 0 >, proxsuite::nlp::PinocchioLieGroup< _LieGroup >, proxsuite::nlp::PinocchioLieGroup< 3, Scalar >, proxsuite::nlp::TangentBundleTpl< Base >, proxsuite::nlp::TangentBundleTpl< MultibodyConfiguration< Scalar, 0 > >, and proxsuite::nlp::VectorSpaceTpl< _Scalar, _Dim, _Options >.

◆ Jdifference_impl()

template<typename _Scalar , int _Options>

virtual void proxsuite::nlp::ManifoldAbstractTpl< _Scalar, _Options >::Jdifference_impl	(	const ConstVectorRef &	x0,
		const ConstVectorRef &	x1,
		MatrixRef	Jout,
		int	arg ) const

protectedpure virtual

Implemented in proxsuite::nlp::CartesianProductTpl< _Scalar >, proxsuite::nlp::MultibodyConfiguration< _Scalar, _Options >, proxsuite::nlp::MultibodyConfiguration< Scalar, 0 >, proxsuite::nlp::PinocchioLieGroup< _LieGroup >, proxsuite::nlp::PinocchioLieGroup< 3, Scalar >, proxsuite::nlp::TangentBundleTpl< Base >, proxsuite::nlp::TangentBundleTpl< MultibodyConfiguration< Scalar, 0 > >, and proxsuite::nlp::VectorSpaceTpl< _Scalar, _Dim, _Options >.

◆ interpolate_impl()

template<typename _Scalar , int _Options>

virtual void proxsuite::nlp::ManifoldAbstractTpl< _Scalar, _Options >::interpolate_impl	(	const ConstVectorRef &	x0,
		const ConstVectorRef &	x1,
		const Scalar &	u,
		VectorRef	out ) const

inlineprotectedvirtual

Interpolation operation.

Reimplemented in proxsuite::nlp::MultibodyConfiguration< _Scalar, _Options >, proxsuite::nlp::MultibodyConfiguration< Scalar, 0 >, proxsuite::nlp::TangentBundleTpl< Base >, proxsuite::nlp::TangentBundleTpl< MultibodyConfiguration< Scalar, 0 > >, and proxsuite::nlp::VectorSpaceTpl< _Scalar, _Dim, _Options >.

Definition at line 121 of file manifold-base.hpp.

Member Data Documentation

◆ Options

template<typename _Scalar , int _Options>

int proxsuite::nlp::ManifoldAbstractTpl< _Scalar, _Options >::Options = _Options

staticconstexpr

Scalar type.

Definition at line 16 of file manifold-base.hpp.

◆ Scalar

template<typename _Scalar , int _Options>

proxsuite::nlp::ManifoldAbstractTpl< _Scalar, _Options >::Scalar

Definition at line 18 of file manifold-base.hpp.

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

include/proxsuite-nlp/fwd.hpp
include/proxsuite-nlp/manifold-base.hpp

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ TangentSpaceType

Constructor & Destructor Documentation

◆ ~ManifoldAbstractTpl()

Member Function Documentation

◆ nx()

◆ ndx()

◆ neutral()

◆ rand()

◆ isNormalized()

◆ tangentSpace()

◆ integrate() [1/2]

◆ Jintegrate()

◆ JintegrateTransport()

◆ difference() [1/2]

◆ Jdifference()

◆ interpolate() [1/2]

◆ integrate() [2/2]

◆ difference() [2/2]

◆ interpolate() [2/2]

◆ integrate_impl()

◆ Jintegrate_impl()

◆ difference_impl()

◆ Jdifference_impl()

◆ interpolate_impl()

Member Data Documentation

◆ Options

◆ Scalar