crocoddyl  1.7.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
euclidean.hpp
1 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019, LAAS-CNRS
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
8 
9 #ifndef CROCODDYL_CORE_STATES_EUCLIDEAN_HPP_
10 #define CROCODDYL_CORE_STATES_EUCLIDEAN_HPP_
11 
12 #include "crocoddyl/core/fwd.hpp"
13 #include "crocoddyl/core/utils/exception.hpp"
14 #include "crocoddyl/core/state-base.hpp"
15 
16 namespace crocoddyl {
17 
18 template <typename _Scalar>
19 class StateVectorTpl : public StateAbstractTpl<_Scalar> {
20  public:
21  typedef _Scalar Scalar;
22  typedef MathBaseTpl<Scalar> MathBase;
23  typedef typename MathBase::VectorXs VectorXs;
24  typedef typename MathBase::MatrixXs MatrixXs;
25 
26  explicit StateVectorTpl(const std::size_t nx);
27  virtual ~StateVectorTpl();
28 
29  virtual VectorXs zero() const;
30  virtual VectorXs rand() const;
31  virtual void diff(const Eigen::Ref<const VectorXs>& x0, const Eigen::Ref<const VectorXs>& x1,
32  Eigen::Ref<VectorXs> dxout) const;
33  virtual void integrate(const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>& dx,
34  Eigen::Ref<VectorXs> xout) const;
35  virtual void Jdiff(const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&, Eigen::Ref<MatrixXs> Jfirst,
36  Eigen::Ref<MatrixXs> Jsecond, const Jcomponent firstsecond = both) const;
37  virtual void Jintegrate(const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>& dx,
38  Eigen::Ref<MatrixXs> Jfirst, Eigen::Ref<MatrixXs> Jsecond,
39  const Jcomponent firstsecond = both, const AssignmentOp = setto) const;
40  virtual void JintegrateTransport(const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>& dx,
41  Eigen::Ref<MatrixXs> Jin, const Jcomponent firstsecond) const;
42 
43  protected:
51 };
52 
53 } // namespace crocoddyl
54 
55 /* --- Details -------------------------------------------------------------- */
56 /* --- Details -------------------------------------------------------------- */
57 /* --- Details -------------------------------------------------------------- */
58 #include "crocoddyl/core/states/euclidean.hxx"
59 
60 #endif // CROCODDYL_CORE_STATES_EUCLIDEAN_HPP_
crocoddyl::StateAbstractTpl::lb_
VectorXs lb_
Lower state limits.
Definition: state-base.hpp:289
crocoddyl::StateAbstractTpl::has_limits_
bool has_limits_
Indicates whether any of the state limits is finite.
Definition: state-base.hpp:291
crocoddyl::StateAbstractTpl::ub_
VectorXs ub_
Upper state limits.
Definition: state-base.hpp:290
crocoddyl::StateAbstractTpl::nx_
std::size_t nx_
State dimension.
Definition: state-base.hpp:285
crocoddyl::StateAbstractTpl::nv_
std::size_t nv_
Velocity dimension.
Definition: state-base.hpp:288
crocoddyl::StateAbstractTpl::ndx_
std::size_t ndx_
State rate dimension.
Definition: state-base.hpp:286
crocoddyl::StateAbstractTpl::nq_
std::size_t nq_
Configuration dimension.
Definition: state-base.hpp:287