aligator::MultibodyPhaseSpace< Scalar > Struct Template Reference

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

#include <aligator/modelling/spaces/multibody.hpp>

Inheritance diagram for aligator::MultibodyPhaseSpace< Scalar >:

Collaboration diagram for aligator::MultibodyPhaseSpace< Scalar >:

Public Types
using	ConfigSpace = MultibodyConfiguration<Scalar>
using	ModelType = typename ConfigSpace::ModelType
Public Types inherited from aligator::TangentBundleTpl< MultibodyConfiguration< Scalar > >
using	Self
using	Scalar
using	ManifoldBase
Public Types inherited from aligator::ManifoldAbstractTpl< MultibodyConfiguration< Scalar >::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 aligator::TangentBundleTpl< MultibodyConfiguration< Scalar > >
int	ndx () const
	Get manifold tangent space dimension.
int	nx () const
	Get manifold representation dimension.
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	TangentBundleTpl (const MultibodyConfiguration< Scalar > &base)
	Constructor using base space instance.
bool	isNormalized (const ConstVectorRef &x) const
	Check if the input vector x is a viable element of the manifold.
const MultibodyConfiguration< Scalar > &	getBaseSpace () const
Point::ConstSegmentReturnType	getBasePoint (const Eigen::MatrixBase< Point > &x) const
Point::SegmentReturnType	getBasePointWrite (const Eigen::MatrixBase< Point > &x) const
Tangent::ConstSegmentReturnType	getBaseTangent (const Tangent &v) const
Tangent::SegmentReturnType	getTangentHeadWrite (const Eigen::MatrixBase< Tangent > &v) const
Eigen::Block< Jac, Eigen::Dynamic, Eigen::Dynamic >	getBaseJacobian (const Eigen::MatrixBase< Jac > &J) const
Public Member Functions inherited from aligator::ManifoldAbstractTpl< MultibodyConfiguration< Scalar >::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).
VectorXs	rand () const
	Sample a random point \(x \in M\) on 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

Additional Inherited Members
Static Public Attributes inherited from aligator::TangentBundleTpl< MultibodyConfiguration< Scalar > >
static constexpr int	Options
Protected Member Functions inherited from aligator::TangentBundleTpl< MultibodyConfiguration< Scalar > >
void	neutral_impl (VectorRef out) const
void	rand_impl (VectorRef out) 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_impl (const ConstVectorRef &x, const ConstVectorRef &v, MatrixRef Jout, int arg) const
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.
Protected Attributes inherited from aligator::TangentBundleTpl< MultibodyConfiguration< Scalar > >
MultibodyConfiguration< Scalar >	base_
Protected Attributes inherited from aligator::ManifoldAbstractTpl< MultibodyConfiguration< Scalar >::Scalar >
int	nx_
int	ndx_

Detailed Description

template<typename Scalar>
struct aligator::MultibodyPhaseSpace< Scalar >

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 118 of file multibody.hpp.

Member Typedef Documentation

ConfigSpace

template<typename Scalar>

using aligator::MultibodyPhaseSpace< Scalar >::ConfigSpace = MultibodyConfiguration<Scalar>

Definition at line 119 of file multibody.hpp.

ModelType

template<typename Scalar>

using aligator::MultibodyPhaseSpace< Scalar >::ModelType = typename ConfigSpace::ModelType

Definition at line 120 of file multibody.hpp.

Constructor & Destructor Documentation

MultibodyPhaseSpace() [1/3]

template<typename Scalar>

aligator::MultibodyPhaseSpace< Scalar >::MultibodyPhaseSpace ( const ModelType & model )

inline

Definition at line 124 of file multibody.hpp.

MultibodyPhaseSpace() [2/3]

template<typename Scalar>

aligator::MultibodyPhaseSpace< Scalar >::MultibodyPhaseSpace ( const MultibodyPhaseSpace< Scalar > & )

default

MultibodyPhaseSpace() [3/3]

template<typename Scalar>

aligator::MultibodyPhaseSpace< Scalar >::MultibodyPhaseSpace ( MultibodyPhaseSpace< Scalar > && )

default

Member Function Documentation

getModel()

template<typename Scalar>

const ModelType & aligator::MultibodyPhaseSpace< Scalar >::getModel ( ) const

inline

Definition at line 122 of file multibody.hpp.

operator=() [1/2]

template<typename Scalar>

MultibodyPhaseSpace & aligator::MultibodyPhaseSpace< Scalar >::operator= ( const MultibodyPhaseSpace< Scalar > & )

default

operator=() [2/2]

template<typename Scalar>

MultibodyPhaseSpace & aligator::MultibodyPhaseSpace< Scalar >::operator= ( MultibodyPhaseSpace< Scalar > && )

default

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

• include/aligator/modelling/multibody/context.hpp
• include/aligator/modelling/spaces/multibody.hpp