Represents a N-dimensional real vector space with vector addition as the group operation. More...

#include <Rn.hpp>

Inheritance diagram for aikido::statespace::R< N >:

Classes
class	State
	Point in a `R<N>`. More...

Public Types
using	VectorNd = Eigen::Matrix< double, N, 1 >

using	StateHandle = RStateHandle< State >

using	StateHandleConst = RStateHandle< const State >

using	ScopedState = statespace::ScopedState< StateHandle >

using	ScopedStateConst = statespace::ScopedState< StateHandleConst >

Public Types inherited from aikido::statespace::StateSpace
using	StateHandle = statespace::StateHandle< StateSpace, State >

using	StateHandleConst = statespace::StateHandle< StateSpace, const State >

using	ScopedState = statespace::ScopedState< StateHandle >

using	ScopedStateConst = statespace::ScopedState< StateHandleConst >

Public Member Functions
	R ()
	Constructs a `N` dimensional real vector space only when the dimension is can be known in compile time. More...

	R (int dimension)
	Constructs a `dimension` dimensional real vector space. More...

ScopedState	createState () const
	Helper function to create a `ScopedState`. More...

ScopedState	cloneState (const StateSpace::State *stateIn) const
	Creates an identical clone of `stateIn`.

Eigen::Map< const VectorNd >	getValue (const State *_state) const
	Gets the real vector stored in a `State`. More...

void	setValue (State *_state, const VectorNd &_value) const
	Sets the real vector stored in a `State`. More...

std::size_t	getStateSizeInBytes () const override
	Gets the size of a State, in bytes. More...

StateSpace::State *	allocateStateInBuffer (void *_buffer) const override
	Create a new state in a pre-allocated buffer. More...

void	freeStateInBuffer (StateSpace::State *_state) const override

void	compose (const StateSpace::State _state1, const StateSpace::State _state2, StateSpace::State *_out) const override

void	getIdentity (StateSpace::State *_out) const override

void	getInverse (const StateSpace::State _in, StateSpace::State _out) const override

std::size_t	getDimension () const override
	Get the dimension of this Lie group. More...

void	copyState (const StateSpace::State _source, StateSpace::State _destination) const override
	Copy a state. More...

void	expMap (const Eigen::VectorXd &_tangent, StateSpace::State *_out) const override
	Exponential mapping of Lie algebra element to a Lie group element. More...

void	logMap (const StateSpace::State *_in, Eigen::VectorXd &_tangent) const override
	Log mapping of Lie group element to a Lie algebra element. More...

void	print (const StateSpace::State *_state, std::ostream &_os) const override
	Print the n-dimensional vector represented by the state Format: [x_1, x_2, ..., x_n].

Public Member Functions inherited from aikido::statespace::StateSpace
ScopedState	createState () const
	Helper function to create a `ScopedState`. More...

ScopedState	cloneState (const State *stateIn) const
	Creates an identical clone of `stateIn`.

virtual State *	allocateState () const
	Allocate a new state. More...

virtual void	freeState (State *_state) const
	Free a state previously created by `allocateState`. More...

virtual void	freeStateInBuffer (State *_state) const =0
	Free a state previously created by `allocateStateInBuffer`. More...

virtual void	compose (const State _state1, const State _state2, State *_out) const =0
	Lie group operation for this StateSpace. More...

virtual void	compose (State _state1, const State _state2) const
	Lie group operation for this StateSpace. More...

virtual void	getIdentity (State *_out) const =0
	Gets the identity element for this Lie group, such that: More...

virtual void	getInverse (const State _state, State _out) const =0
	Gets the inverse of `_in` in this Lie group, such that: More...

virtual void	getInverse (State *_state) const
	Gets the inverse of `_in` in this Lie group. More...

virtual void	expMap (const Eigen::VectorXd &_tangent, State *_out) const =0
	Exponential mapping of Lie algebra element to a Lie group element. More...

virtual void	logMap (const State *_in, Eigen::VectorXd &_tangent) const =0
	Log mapping of Lie group element to a Lie algebra element. More...

virtual void	print (const State *_state, std::ostream &_os) const =0
	Print the state to the output stream. More...

Static Public Attributes
static constexpr int	DimensionAtCompileTime = N
	Dimension of the space.

Detailed Description

template<int N>
class aikido::statespace::R< N >

Represents a N-dimensional real vector space with vector addition as the group operation.

N should be either non-negative or Eigen::Dynamic.

Constructor & Destructor Documentation

§ R() [1/2]

template<int N>

aikido::statespace::R< N >::R ( )

Constructs a N dimensional real vector space only when the dimension is can be known in compile time.

If the dimension is known in compile time, it is recommended to use this constructor over R(int) because this constructor uses fixed size Eigen objects to represent the state data internally, which is generally faster than using dynamic size Eigen objects.

N must be non-negative and not Eigen::Dynamic.

Exceptions

std::invalid_argument when N is Eigen::Dynamic.

See also: R(int)

§ R() [2/2]

template<int N>

aikido::statespace::R< N >::R ( int dimension )

explicit

Constructs a dimension dimensional real vector space.

This constructor must be used only when N is Eigen::Dynamic (i.e., -1). Otherwise, throws an std::invalid_argument exception.

N must be non-negative and not Eigen::Dynamic.

Exceptions

std::invalid_argument when N is not Eigen::Dynamic and dimension is not the same with N.

See also: R()

Member Function Documentation

§ allocateStateInBuffer()

template<int N>

StateSpace::State * aikido::statespace::R< N >::allocateStateInBuffer ( void * _buffer ) const

overridevirtual

Create a new state in a pre-allocated buffer.

The input argument must contain at least getStateSizeInBytes() bytes of memory. This state must be freed with freeStateInBuffer before freeing _buffer.

Parameters

_buffer memory used to store the returned state

Returns: state object allocated in _buffer

Implements aikido::statespace::StateSpace.

§ copyState()

template<int N>

void aikido::statespace::R< N >::copyState	(	const StateSpace::State *	_source,
		StateSpace::State *	_destination
	)		const

overridevirtual

Copy a state.

Parameters

	_source	input state
[out]	_destination	output state

Implements aikido::statespace::StateSpace.

§ createState()

template<int N>

auto aikido::statespace::R< N >::createState ( ) const

Helper function to create a ScopedState.

Returns: new ScopedState

§ expMap()

template<int N>

void aikido::statespace::R< N >::expMap	(	const Eigen::VectorXd &	_tangent,
		StateSpace::State *	_out
	)		const

override

Exponential mapping of Lie algebra element to a Lie group element.

This is simply the identity transformation on a real vector space.

Parameters

	_tangent	element of the tangent space
[out]	_out	corresponding element of the Lie group

§ getDimension()

template<int N>

std::size_t aikido::statespace::R< N >::getDimension ( ) const

overridevirtual

Get the dimension of this Lie group.

This is also the dimension of the tangent space, i.e. the Lie algebra, associated with this group.

Returns: dimension of this state space

Implements aikido::statespace::StateSpace.

§ getStateSizeInBytes()

template<int N>

std::size_t aikido::statespace::R< N >::getStateSizeInBytes ( ) const

overridevirtual

Gets the size of a State, in bytes.

Returns: size, in bytes, requires to store a State

Implements aikido::statespace::StateSpace.

§ getValue()

template<int N>

auto aikido::statespace::R< N >::getValue ( const State * _state ) const

Gets the real vector stored in a State.

Parameters

_state a State in this state space

Returns: real vector represented by _state

§ logMap()

template<int N>

void aikido::statespace::R< N >::logMap	(	const StateSpace::State *	_in,
		Eigen::VectorXd &	_tangent
	)		const

override

Log mapping of Lie group element to a Lie algebra element.

This is simply an identity transformation on a real vector space.

Parameters

	_in	element of this Lie group
[out]	_tangent	corresponding element of the tangent space

§ setValue()

template<int N>

void aikido::statespace::R< N >::setValue	(	State *	_state,
		const VectorNd &	_value
	)		const

Sets the real vector stored in a State.

Parameters

_state	a `State` in this state space
_value	real vector to store in `_state`

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

include/aikido/statespace/Rn.hpp
include/aikido/statespace/detail/Rn-impl.hpp

Classes

Public Types

Public Member Functions

Static Public Attributes

Detailed Description

template<int N> class aikido::statespace::R< N >

Constructor & Destructor Documentation

§ R() [1/2]

§ R() [2/2]

Member Function Documentation

§ allocateStateInBuffer()

§ copyState()

§ createState()

§ expMap()

§ getDimension()

§ getStateSizeInBytes()

§ getValue()

§ logMap()

§ setValue()

template<int N>
class aikido::statespace::R< N >