The two-dimensional special orthogonal group SO(3), i.e. More...

#include <SO3.hpp>

Inheritance diagram for aikido::statespace::SO3:

Classes
class	State
	State in SO(3), a spatial rotation. More...

Public Types
using	StateHandle = SO3StateHandle< State >

using	StateHandleConst = SO3StateHandle< const State >

using	ScopedState = statespace::ScopedState< StateHandle >

using	ScopedStateConst = statespace::ScopedState< StateHandleConst >

using	Quaternion = State::Quaternion

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
	SO3 ()=default
	Constructs a state space representing SO(3).

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

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

const Quaternion &	getQuaternion (const State *_state) const
	Gets a state as a unit quaternion. More...

void	setQuaternion (State *_state, const Quaternion &_quaternion) const
	Sets a state to a unit quaternion. 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 quaternion represented by the state. More...

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...

Detailed Description

The two-dimensional special orthogonal group SO(3), i.e.

the space of spatial rigid body rotations.

Member Function Documentation

§ allocateStateInBuffer()

StateSpace::State * aikido::statespace::SO3::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()

void aikido::statespace::SO3::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()

auto aikido::statespace::SO3::createState ( ) const

Helper function to create a ScopedState.

Returns: new ScopedState

§ expMap()

void aikido::statespace::SO3::expMap	(	const Eigen::VectorXd &	_tangent,
		StateSpace::State *	_out
	)		const

override

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

The tangent space is parameterized as a spatial rotation velocity.

Parameters

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

§ getDimension()

std::size_t aikido::statespace::SO3::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.

§ getQuaternion()

auto aikido::statespace::SO3::getQuaternion ( const State * _state ) const

Gets a state as a unit quaternion.

Parameters

_state input state

Returns: unit quaternion representing orientation

§ getStateSizeInBytes()

std::size_t aikido::statespace::SO3::getStateSizeInBytes ( ) const

overridevirtual

Gets the size of a State, in bytes.

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

Implements aikido::statespace::StateSpace.

§ logMap()

void aikido::statespace::SO3::logMap	(	const StateSpace::State *	_in,
		Eigen::VectorXd &	_tangent
	)		const

override

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

The tangent space is parameterized as a spatial rotational velocity.

Parameters

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

§ print()

void aikido::statespace::SO3::print	(	const StateSpace::State *	_state,
		std::ostream &	_os
	)		const

override

Print the quaternion represented by the state.

Format: [w, x, y, z]

§ setQuaternion()

void aikido::statespace::SO3::setQuaternion	(	State *	_state,
		const Quaternion &	_quaternion
	)		const

Sets a state to a unit quaternion.

Parameters

_state	input state
_quaternion	unit quaternion representing orientation

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

include/aikido/statespace/SO3.hpp
src/statespace/SO3.cpp

Classes

Public Types

Public Member Functions

Detailed Description

Member Function Documentation

§ allocateStateInBuffer()

§ copyState()

§ createState()

§ expMap()

§ getDimension()

§ getQuaternion()

§ getStateSizeInBytes()

§ logMap()

§ print()

§ setQuaternion()