The tangent bundle of a multibody configuration group. More...

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

Inheritance diagram for proxsuite::nlp::MultibodyPhaseSpace< Scalar, Options >:

Collaboration diagram for proxsuite::nlp::MultibodyPhaseSpace< Scalar, Options >:

Public Types
using	ConfigSpace = MultibodyConfiguration<Scalar, Options>

using	ModelType = typename ConfigSpace::ModelType

Public Types inherited from proxsuite::nlp::TangentBundleTpl< MultibodyConfiguration< Scalar, 0 > >
using	Self

using	Scalar

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

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

Public Member Functions
const ModelType &	getModel () const

	MultibodyPhaseSpace (const ModelType &model)

	MultibodyPhaseSpace (const MultibodyPhaseSpace &)=default

MultibodyPhaseSpace &	operator= (const MultibodyPhaseSpace &)=default

	MultibodyPhaseSpace (MultibodyPhaseSpace &&)=default

MultibodyPhaseSpace &	operator= (MultibodyPhaseSpace &&)=default

Public Member Functions inherited from proxsuite::nlp::TangentBundleTpl< MultibodyConfiguration< Scalar, 0 > >
	TangentBundleTpl (MultibodyConfiguration< Scalar, 0 > base)
	Constructor using base space instance.

	TangentBundleTpl (BaseCtorArgs... args)
	Constructor using base space constructor.

int	nx () const
	Declare implementations.

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).

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.

const MultibodyConfiguration< Scalar, 0 > &	getBaseSpace () const

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

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

Point::ConstSegmentReturnType	getBasePoint (const Point &x) const

Point::SegmentReturnType	getBasePointWrite (const Point &x) const

Tangent::ConstSegmentReturnType	getBaseTangent (const Tangent &v) const

Tangent::SegmentReturnType	getTangentHeadWrite (const Tangent &v) const

Eigen::Block< Jac, Eigen::Dynamic, Eigen::Dynamic >	getBaseJacobian (const Jac &J) const

Public Member Functions inherited from proxsuite::nlp::ManifoldAbstractTpl< MultibodyConfiguration< Scalar, 0 >::Scalar >
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

VectorXs	difference (const ConstVectorRef &x0, const ConstVectorRef &x1) const

VectorXs	interpolate (const ConstVectorRef &x0, const ConstVectorRef &x1, const Scalar &u) const

Additional Inherited Members
Public Attributes inherited from proxsuite::nlp::TangentBundleTpl< MultibodyConfiguration< Scalar, 0 > >
	Scalar

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

Static Public Attributes inherited from proxsuite::nlp::TangentBundleTpl< MultibodyConfiguration< Scalar, 0 > >
static constexpr int	Options

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

Protected Attributes inherited from proxsuite::nlp::TangentBundleTpl< MultibodyConfiguration< Scalar, 0 > >
MultibodyConfiguration< Scalar, 0 >	base_

Detailed Description

template<typename Scalar, int Options = 0>
struct proxsuite::nlp::MultibodyPhaseSpace< Scalar, Options >

The tangent bundle of a multibody configuration group.

This is not a typedef, since we provide a constructor for the class. Any point on the manifold is of the form \(x = (q,v) \), where \(q \in \mathcal{Q} \) is a configuration and \(v\) is a joint velocity vector.

Definition at line 113 of file multibody.hpp.