Multibody configuration group \(\mathcal{Q}\), defined using the Pinocchio library. More...

#include <proxsuite-nlp/modelling/spaces/multibody.hpp>

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

Collaboration diagram for proxsuite::nlp::MultibodyConfiguration< _Scalar, _Options >:

Public Types
using	Scalar = _Scalar

using	Self = MultibodyConfiguration<Scalar, Options>

using	ModelType = pinocchio::ModelTpl<Scalar, Options>

using	Base = ManifoldAbstractTpl<Scalar, Options>

Public Types inherited from proxsuite::nlp::ManifoldAbstractTpl< _Scalar, 0 >
using	Scalar

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

Public Member Functions
	MultibodyConfiguration (const ModelType &model)

	MultibodyConfiguration (const MultibodyConfiguration &)=default

MultibodyConfiguration &	operator= (const MultibodyConfiguration &)=default

	MultibodyConfiguration (MultibodyConfiguration &&)=default

MultibodyConfiguration &	operator= (MultibodyConfiguration &&)=default

const ModelType &	getModel () const

VectorXs	neutral () 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.

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

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

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

void	JintegrateTransport (const ConstVectorRef &x, const ConstVectorRef &v, MatrixRef Jout, int arg) const
	Perform the parallel transport operation.

void	difference_impl (const ConstVectorRef &x0, const ConstVectorRef &x1, VectorRef vout) const
	Implementation of the manifold retraction operation.

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

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

int	nx () const
	Get manifold representation dimension.

int	ndx () const
	Get manifold tangent space dimension.

Public Member Functions inherited from proxsuite::nlp::ManifoldAbstractTpl< _Scalar, 0 >
virtual	~ManifoldAbstractTpl ()=default

const 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	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
	Scalar

Public Attributes inherited from proxsuite::nlp::ManifoldAbstractTpl< _Scalar, 0 >
	Scalar

Static Public Attributes
static constexpr int	Options = _Options

Static Public Attributes inherited from proxsuite::nlp::ManifoldAbstractTpl< _Scalar, 0 >
static constexpr int	Options
	Scalar type.

Protected Attributes
ModelType	model_

Additional Inherited Members

Detailed Description

template<typename _Scalar, int _Options = 0>
struct proxsuite::nlp::MultibodyConfiguration< _Scalar, _Options >

Multibody configuration group \(\mathcal{Q}\), defined using the Pinocchio library.

This uses a pinocchio::ModelTpl object to define the manifold.

Definition at line 18 of file multibody.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar , int _Options = 0>

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

Definition at line 20 of file multibody.hpp.

◆ Self

template<typename _Scalar , int _Options = 0>

using proxsuite::nlp::MultibodyConfiguration< _Scalar, _Options >::Self = MultibodyConfiguration<Scalar, Options>

Definition at line 23 of file multibody.hpp.

◆ ModelType

template<typename _Scalar , int _Options = 0>

using proxsuite::nlp::MultibodyConfiguration< _Scalar, _Options >::ModelType = pinocchio::ModelTpl<Scalar, Options>

Definition at line 24 of file multibody.hpp.

◆ Base

template<typename _Scalar , int _Options = 0>

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

Definition at line 25 of file multibody.hpp.

Constructor & Destructor Documentation

◆ MultibodyConfiguration() [1/3]

template<typename _Scalar , int _Options = 0>

proxsuite::nlp::MultibodyConfiguration< _Scalar, _Options >::MultibodyConfiguration ( const ModelType & model )

inline

Definition at line 27 of file multibody.hpp.

◆ MultibodyConfiguration() [2/3]

template<typename _Scalar , int _Options = 0>

proxsuite::nlp::MultibodyConfiguration< _Scalar, _Options >::MultibodyConfiguration ( const MultibodyConfiguration< _Scalar, _Options > & )

default

◆ MultibodyConfiguration() [3/3]

template<typename _Scalar , int _Options = 0>

proxsuite::nlp::MultibodyConfiguration< _Scalar, _Options >::MultibodyConfiguration ( MultibodyConfiguration< _Scalar, _Options > && )

default

Member Function Documentation

◆ operator=() [1/2]

template<typename _Scalar , int _Options = 0>

MultibodyConfiguration & proxsuite::nlp::MultibodyConfiguration< _Scalar, _Options >::operator= ( const MultibodyConfiguration< _Scalar, _Options > & )

default

◆ operator=() [2/2]

template<typename _Scalar , int _Options = 0>

MultibodyConfiguration & proxsuite::nlp::MultibodyConfiguration< _Scalar, _Options >::operator= ( MultibodyConfiguration< _Scalar, _Options > && )

default

◆ getModel()

template<typename _Scalar , int _Options = 0>

const ModelType & proxsuite::nlp::MultibodyConfiguration< _Scalar, _Options >::getModel ( ) const

inline

Definition at line 33 of file multibody.hpp.

◆ neutral()

template<typename _Scalar , int _Options = 0>

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

inlinevirtual

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

Reimplemented from proxsuite::nlp::ManifoldAbstractTpl< _Scalar, 0 >.

Definition at line 35 of file multibody.hpp.

◆ rand()

template<typename _Scalar , int _Options = 0>

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

inlinevirtual

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

Reimplemented from proxsuite::nlp::ManifoldAbstractTpl< _Scalar, 0 >.

Definition at line 36 of file multibody.hpp.

◆ isNormalized()

template<typename _Scalar , int _Options = 0>

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

inlinevirtual

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

Reimplemented from proxsuite::nlp::ManifoldAbstractTpl< _Scalar, 0 >.

Definition at line 37 of file multibody.hpp.

◆ integrate_impl()

template<typename _Scalar , int _Options = 0>

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

inlinevirtual

Perform the manifold integration operation.

Implements proxsuite::nlp::ManifoldAbstractTpl< _Scalar, 0 >.

Definition at line 44 of file multibody.hpp.

◆ Jintegrate_impl()

template<typename _Scalar , int _Options = 0>

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

inlinevirtual

Implements proxsuite::nlp::ManifoldAbstractTpl< _Scalar, 0 >.

Definition at line 49 of file multibody.hpp.

◆ JintegrateTransport()

template<typename _Scalar , int _Options = 0>

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

inlinevirtual

Perform the parallel transport operation.

Implements proxsuite::nlp::ManifoldAbstractTpl< _Scalar, 0 >.

Definition at line 61 of file multibody.hpp.

◆ difference_impl()

template<typename _Scalar , int _Options = 0>

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

inlinevirtual

Implementation of the manifold retraction operation.

Implements proxsuite::nlp::ManifoldAbstractTpl< _Scalar, 0 >.

Definition at line 75 of file multibody.hpp.

◆ Jdifference_impl()

template<typename _Scalar , int _Options = 0>

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

inlinevirtual

Implements proxsuite::nlp::ManifoldAbstractTpl< _Scalar, 0 >.

Definition at line 80 of file multibody.hpp.

◆ interpolate_impl()

template<typename _Scalar , int _Options = 0>

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

inlinevirtual

Interpolation operation.

Reimplemented from proxsuite::nlp::ManifoldAbstractTpl< _Scalar, 0 >.

Definition at line 92 of file multibody.hpp.

◆ nx()

template<typename _Scalar , int _Options = 0>

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

inlinevirtual

Get manifold representation dimension.

Implements proxsuite::nlp::ManifoldAbstractTpl< _Scalar, 0 >.

Definition at line 97 of file multibody.hpp.

◆ ndx()

template<typename _Scalar , int _Options = 0>

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

inlinevirtual

Get manifold tangent space dimension.

Implements proxsuite::nlp::ManifoldAbstractTpl< _Scalar, 0 >.

Definition at line 98 of file multibody.hpp.

Member Data Documentation

◆ Options

template<typename _Scalar , int _Options = 0>

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

staticconstexpr

Definition at line 21 of file multibody.hpp.

◆ Scalar

template<typename _Scalar , int _Options = 0>

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

Definition at line 22 of file multibody.hpp.

◆ model_

template<typename _Scalar , int _Options = 0>

ModelType proxsuite::nlp::MultibodyConfiguration< _Scalar, _Options >::model_

protected

Definition at line 103 of file multibody.hpp.

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

include/proxsuite-nlp/modelling/spaces/multibody.hpp

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ Self

◆ ModelType

◆ Base

Constructor & Destructor Documentation

◆ MultibodyConfiguration() [1/3]

◆ MultibodyConfiguration() [2/3]

◆ MultibodyConfiguration() [3/3]

Member Function Documentation

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ getModel()

◆ neutral()

◆ rand()

◆ isNormalized()

◆ integrate_impl()

◆ Jintegrate_impl()

◆ JintegrateTransport()

◆ difference_impl()

◆ Jdifference_impl()

◆ interpolate_impl()

◆ nx()

◆ ndx()

Member Data Documentation

◆ Options

◆ Scalar

◆ model_