Wrap a Pinocchio Lie group into a ManifoldAbstractTpl object. More...

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

Inheritance diagram for proxsuite::nlp::PinocchioLieGroup< _LieGroup >:

Collaboration diagram for proxsuite::nlp::PinocchioLieGroup< _LieGroup >:

Public Types
using	LieGroup = _LieGroup

using	Scalar = typename LieGroup::Scalar

using	Base = ManifoldAbstractTpl<Scalar, Options>

Public Types inherited from proxsuite::nlp::ManifoldAbstractTpl< _LieGroup::Scalar, _LieGroup::Options >
using	Scalar

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

Public Member Functions
	PinocchioLieGroup ()

	PinocchioLieGroup (const LieGroup &lg)

	PinocchioLieGroup (LieGroup &&lg)

	PinocchioLieGroup (const PinocchioLieGroup &lg)=default

	PinocchioLieGroup (PinocchioLieGroup &&lg)=default

template<typename... Args>
	PinocchioLieGroup (Args &&...args)

	operator LieGroup ()

int	nx () const
	Get manifold representation dimension.

int	ndx () const
	Get manifold tangent space dimension.

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

void	difference_impl (const ConstVectorRef &x0, const ConstVectorRef &x1, VectorRef vout) 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

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

Public Member Functions inherited from proxsuite::nlp::ManifoldAbstractTpl< _LieGroup::Scalar, _LieGroup::Options >
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

LieGroup	lg_

Public Attributes inherited from proxsuite::nlp::ManifoldAbstractTpl< _LieGroup::Scalar, _LieGroup::Options >
	Scalar

Static Public Attributes
static constexpr int	Options = LieGroup::Options

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

Additional Inherited Members
Protected Member Functions inherited from proxsuite::nlp::ManifoldAbstractTpl< _LieGroup::Scalar, _LieGroup::Options >
virtual void	interpolate_impl (const ConstVectorRef &x0, const ConstVectorRef &x1, const Scalar &u, VectorRef out) const
	Interpolation operation.

Detailed Description

template<typename _LieGroup>
struct proxsuite::nlp::PinocchioLieGroup< _LieGroup >

Wrap a Pinocchio Lie group into a ManifoldAbstractTpl object.

Definition at line 18 of file pinocchio-groups.hpp.

Member Typedef Documentation

◆ LieGroup

template<typename _LieGroup >

using proxsuite::nlp::PinocchioLieGroup< _LieGroup >::LieGroup = _LieGroup

Definition at line 22 of file pinocchio-groups.hpp.

◆ Scalar

template<typename _LieGroup >

using proxsuite::nlp::PinocchioLieGroup< _LieGroup >::Scalar = typename LieGroup::Scalar

Definition at line 23 of file pinocchio-groups.hpp.

◆ Base

template<typename _LieGroup >

using proxsuite::nlp::PinocchioLieGroup< _LieGroup >::Base = ManifoldAbstractTpl<Scalar, Options>

Definition at line 25 of file pinocchio-groups.hpp.

Constructor & Destructor Documentation

◆ PinocchioLieGroup() [1/6]

template<typename _LieGroup >

proxsuite::nlp::PinocchioLieGroup< _LieGroup >::PinocchioLieGroup ( )

inline

Definition at line 32 of file pinocchio-groups.hpp.

◆ PinocchioLieGroup() [2/6]

template<typename _LieGroup >

proxsuite::nlp::PinocchioLieGroup< _LieGroup >::PinocchioLieGroup ( const LieGroup & lg )

inline

Definition at line 33 of file pinocchio-groups.hpp.

◆ PinocchioLieGroup() [3/6]

template<typename _LieGroup >

proxsuite::nlp::PinocchioLieGroup< _LieGroup >::PinocchioLieGroup ( LieGroup && lg )

inline

Definition at line 34 of file pinocchio-groups.hpp.

◆ PinocchioLieGroup() [4/6]

template<typename _LieGroup >

proxsuite::nlp::PinocchioLieGroup< _LieGroup >::PinocchioLieGroup ( const PinocchioLieGroup< _LieGroup > & lg )

default

◆ PinocchioLieGroup() [5/6]

template<typename _LieGroup >

proxsuite::nlp::PinocchioLieGroup< _LieGroup >::PinocchioLieGroup ( PinocchioLieGroup< _LieGroup > && lg )

default

◆ PinocchioLieGroup() [6/6]

template<typename _LieGroup >

template<typename... Args>

proxsuite::nlp::PinocchioLieGroup< _LieGroup >::PinocchioLieGroup ( Args &&... args )

inline

Definition at line 39 of file pinocchio-groups.hpp.

Member Function Documentation

◆ operator LieGroup()

template<typename _LieGroup >

proxsuite::nlp::PinocchioLieGroup< _LieGroup >::operator LieGroup ( )

inline

Definition at line 41 of file pinocchio-groups.hpp.

◆ nx()

template<typename _LieGroup >

int proxsuite::nlp::PinocchioLieGroup< _LieGroup >::nx ( ) const

inlinevirtual

Get manifold representation dimension.

Implements proxsuite::nlp::ManifoldAbstractTpl< _LieGroup::Scalar, _LieGroup::Options >.

Definition at line 43 of file pinocchio-groups.hpp.

◆ ndx()

template<typename _LieGroup >

int proxsuite::nlp::PinocchioLieGroup< _LieGroup >::ndx ( ) const

inlinevirtual

Get manifold tangent space dimension.

Implements proxsuite::nlp::ManifoldAbstractTpl< _LieGroup::Scalar, _LieGroup::Options >.

Definition at line 44 of file pinocchio-groups.hpp.

◆ integrate_impl()

template<typename _LieGroup >

void proxsuite::nlp::PinocchioLieGroup< _LieGroup >::integrate_impl	(	const ConstVectorRef &	x,
		const ConstVectorRef &	v,
		VectorRef	out ) const

inlinevirtual

Perform the manifold integration operation.

Implements proxsuite::nlp::ManifoldAbstractTpl< _LieGroup::Scalar, _LieGroup::Options >.

Definition at line 48 of file pinocchio-groups.hpp.

◆ difference_impl()

template<typename _LieGroup >

void proxsuite::nlp::PinocchioLieGroup< _LieGroup >::difference_impl	(	const ConstVectorRef &	x0,
		const ConstVectorRef &	x1,
		VectorRef	out ) const

inlinevirtual

Implementation of the manifold retraction operation.

Implements proxsuite::nlp::ManifoldAbstractTpl< _LieGroup::Scalar, _LieGroup::Options >.

Definition at line 53 of file pinocchio-groups.hpp.

◆ Jintegrate_impl()

template<typename _LieGroup >

void proxsuite::nlp::PinocchioLieGroup< _LieGroup >::Jintegrate_impl	(	const ConstVectorRef &	x,
		const ConstVectorRef &	v,
		MatrixRef	Jout,
		int	arg ) const

inlinevirtual

Implements proxsuite::nlp::ManifoldAbstractTpl< _LieGroup::Scalar, _LieGroup::Options >.

Definition at line 58 of file pinocchio-groups.hpp.

◆ JintegrateTransport()

template<typename _LieGroup >

void proxsuite::nlp::PinocchioLieGroup< _LieGroup >::JintegrateTransport	(	const ConstVectorRef &	x,
		const ConstVectorRef &	v,
		MatrixRef	Jout,
		int	arg ) const

inlinevirtual

Perform the parallel transport operation.

Implements proxsuite::nlp::ManifoldAbstractTpl< _LieGroup::Scalar, _LieGroup::Options >.

Definition at line 70 of file pinocchio-groups.hpp.

◆ Jdifference_impl()

template<typename _LieGroup >

void proxsuite::nlp::PinocchioLieGroup< _LieGroup >::Jdifference_impl	(	const ConstVectorRef &	x0,
		const ConstVectorRef &	x1,
		MatrixRef	Jout,
		int	arg ) const

inlinevirtual

Implements proxsuite::nlp::ManifoldAbstractTpl< _LieGroup::Scalar, _LieGroup::Options >.

Definition at line 75 of file pinocchio-groups.hpp.

◆ interpolate_impl()

template<typename _LieGroup >

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

inlinevirtual

Definition at line 87 of file pinocchio-groups.hpp.

◆ neutral()

template<typename _LieGroup >

VectorXs proxsuite::nlp::PinocchioLieGroup< _LieGroup >::neutral ( ) const

inlinevirtual

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

Reimplemented from proxsuite::nlp::ManifoldAbstractTpl< _LieGroup::Scalar, _LieGroup::Options >.

Definition at line 93 of file pinocchio-groups.hpp.

◆ rand()

template<typename _LieGroup >

VectorXs proxsuite::nlp::PinocchioLieGroup< _LieGroup >::rand ( ) const

inlinevirtual

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

Reimplemented from proxsuite::nlp::ManifoldAbstractTpl< _LieGroup::Scalar, _LieGroup::Options >.

Definition at line 95 of file pinocchio-groups.hpp.

◆ isNormalized()

template<typename _LieGroup >

bool proxsuite::nlp::PinocchioLieGroup< _LieGroup >::isNormalized ( const ConstVectorRef & ) const

inlinevirtual

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

Reimplemented from proxsuite::nlp::ManifoldAbstractTpl< _LieGroup::Scalar, _LieGroup::Options >.

Definition at line 96 of file pinocchio-groups.hpp.

Member Data Documentation

◆ Options

template<typename _LieGroup >

int proxsuite::nlp::PinocchioLieGroup< _LieGroup >::Options = LieGroup::Options

staticconstexpr

Definition at line 24 of file pinocchio-groups.hpp.

◆ Scalar

template<typename _LieGroup >

proxsuite::nlp::PinocchioLieGroup< _LieGroup >::Scalar

Definition at line 26 of file pinocchio-groups.hpp.

◆ lg_

template<typename _LieGroup >

LieGroup proxsuite::nlp::PinocchioLieGroup< _LieGroup >::lg_

Definition at line 31 of file pinocchio-groups.hpp.

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

include/proxsuite-nlp/modelling/spaces/pinocchio-groups.hpp

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ LieGroup

◆ Scalar

◆ Base

Constructor & Destructor Documentation

◆ PinocchioLieGroup() [1/6]

◆ PinocchioLieGroup() [2/6]

◆ PinocchioLieGroup() [3/6]

◆ PinocchioLieGroup() [4/6]

◆ PinocchioLieGroup() [5/6]

◆ PinocchioLieGroup() [6/6]

Member Function Documentation

◆ operator LieGroup()

◆ nx()

◆ ndx()

◆ integrate_impl()

◆ difference_impl()

◆ Jintegrate_impl()

◆ JintegrateTransport()

◆ Jdifference_impl()

◆ interpolate_impl()

◆ neutral()

◆ rand()

◆ isNormalized()

Member Data Documentation

◆ Options

◆ Scalar

◆ lg_