Represents the Cartesian product of other StateSpaces. More...

#include <aikido/statespace/CartesianProduct.hpp>

Inheritance diagram for aikido::statespace::CartesianProduct:

Classes
class	State
	A tuple of states where the i-th state is from the i-th subspace. More...

Public Types
using	StateHandle = CompoundStateHandle< State >

using	StateHandleConst = CompoundStateHandle< 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
	CartesianProduct (std::vector< ConstStateSpacePtr > _subspaces)
	Construct the Cartesian product of a vector of subspaces. More...

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

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

std::size_t	getNumSubspaces () const
	Gets number of subspaces. More...

template<class Space = StateSpace>
std::shared_ptr< const Space >	getSubspace (std::size_t _index) const
	Gets subspace of type `Space` by at `_index`. More...

template<class Space = StateSpace>
Space::State *	getSubState (State *_state, std::size_t _index) const
	Gets substate of type `Space::State` from a CompoundState by index. More...

template<class Space = StateSpace>
const Space::State *	getSubState (const State *_state, std::size_t _index) const
	Gets substate of type `Space::State` from a CompoundState by index. More...

template<class Space = StateSpace>
Space::StateHandle	getSubStateHandle (State *_state, std::size_t _index) const
	Gets substate of type `Space::State` from a CompoundState by index and wraps it in a `Space::StateHandle` helper class. More...

template<class Space = StateSpace>
Space::StateHandleConst	getSubStateHandle (const State *_state, std::size_t _index) const
	Gets substate of type `Space::State` from a CompoundState by index and wraps it in a `Space::ConstStateHandle` helper class. 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
	Free a state previously created by `allocateStateInBuffer`. More...

void	compose (const StateSpace::State _state1, const StateSpace::State _state2, StateSpace::State *_out) const override
	Lie group operation for this StateSpace. More...

void	getIdentity (StateSpace::State *_state) const override
	Gets the identity element for this Lie group, such that: More...

void	getInverse (const StateSpace::State _in, StateSpace::State _out) const override
	Gets the inverse of `_in` in this Lie group, such that: More...

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 contents of each substate contained in the state as a list with each substate enclosed in brackets and including its index Format: [0: ...] [1: ...] ... 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...

Public Member Functions inherited from aikido::statespace::StateSpace
virtual	~StateSpace ()=default

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

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

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

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

Private Attributes
std::vector< ConstStateSpacePtr >	mSubspaces

std::vector< std::size_t >	mOffsets

std::size_t	mSizeInBytes

Detailed Description

Represents the Cartesian product of other StateSpaces.

Member Typedef Documentation

◆ ScopedState

using aikido::statespace::CartesianProduct::ScopedState = statespace::ScopedState<StateHandle>

◆ ScopedStateConst

using aikido::statespace::CartesianProduct::ScopedStateConst = statespace::ScopedState<StateHandleConst>

◆ StateHandle

using aikido::statespace::CartesianProduct::StateHandle = CompoundStateHandle<State>

◆ StateHandleConst

using aikido::statespace::CartesianProduct::StateHandleConst = CompoundStateHandle<const State>

Constructor & Destructor Documentation

◆ CartesianProduct()

aikido::statespace::CartesianProduct::CartesianProduct ( std::vector< ConstStateSpacePtr > _subspaces )

explicit

Construct the Cartesian product of a vector of subspaces.

Parameters

_subspaces vector of subspaces

Member Function Documentation

◆ allocateStateInBuffer()

StateSpace::State* aikido::statespace::CartesianProduct::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.

◆ cloneState()

ScopedState aikido::statespace::CartesianProduct::cloneState ( const StateSpace::State * stateIn ) const

Creates an identical clone of stateIn.

◆ compose() [1/3]

virtual void aikido::statespace::StateSpace::compose

Lie group operation for this StateSpace.

It is not acceptable for _out to share memory with _state1 or _state2.

Parameters

	_state1	left input state
	_state2	right input state
[out]	_out	output state

◆ compose() [2/3]

void aikido::statespace::CartesianProduct::compose	(	const StateSpace::State *	_state1,
		const StateSpace::State *	_state2,
		StateSpace::State *	_out
	)		const

overridevirtual

Lie group operation for this StateSpace.

It is not acceptable for _out to share memory with _state1 or _state2.

Parameters

	_state1	left input state
	_state2	right input state
[out]	_out	output state

Implements aikido::statespace::StateSpace.

◆ compose() [3/3]

virtual void aikido::statespace::StateSpace::compose

Lie group operation for this StateSpace.

This is an in-place version of the three argument compose member function that computes:

_state1 = _state1 * _state2.

Parameters

[in,out]	_state1	left input state, overwritten by output
	_state2	right input state

◆ copyState()

void aikido::statespace::CartesianProduct::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()

ScopedState aikido::statespace::CartesianProduct::createState ( ) const

Helper function to create a ScopedState.

Returns: new ScopedState

◆ expMap()

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

overridevirtual

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

The tangent space is parameterized by stacking the tangent vector of each subspace in the order the subspaces are listed in.

Parameters

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

Implements aikido::statespace::StateSpace.

◆ freeStateInBuffer()

void aikido::statespace::CartesianProduct::freeStateInBuffer ( StateSpace::State * _state ) const

overridevirtual

Free a state previously created by allocateStateInBuffer.

It is undefined behavior to access _state after calling this function.

Parameters

_state state to free

Implements aikido::statespace::StateSpace.

◆ getDimension()

std::size_t aikido::statespace::CartesianProduct::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.

◆ getIdentity()

void aikido::statespace::CartesianProduct::getIdentity ( StateSpace::State * _out ) const

overridevirtual

Gets the identity element for this Lie group, such that:

compose(state, identity) = state

Parameters

[out] _out output state

Implements aikido::statespace::StateSpace.

◆ getInverse()

void aikido::statespace::CartesianProduct::getInverse	(	const StateSpace::State *	_state,
		StateSpace::State *	_out
	)		const

overridevirtual

Gets the inverse of _in in this Lie group, such that:

compose(state, inverse(state)) = identity

It is not acceptable for _in to share memory with _out.

Parameters

	_state	input state
[out]	_out	output state

Implements aikido::statespace::StateSpace.

◆ getNumSubspaces()

std::size_t aikido::statespace::CartesianProduct::getNumSubspaces ( ) const

Gets number of subspaces.

Returns: number of subspaces

◆ getStateSizeInBytes()

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

overridevirtual

Gets the size of a State, in bytes.

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

Implements aikido::statespace::StateSpace.

◆ getSubspace()

template<class Space >

std::shared_ptr< const Space > aikido::statespace::CartesianProduct::getSubspace ( std::size_t _index ) const

Gets subspace of type Space by at _index.

Template Parameters

Space type of StateSpace for subspace _index

Parameters

_index in the range [ 0, getNumSubspaces() ]

Returns: subspace at _index

◆ getSubState() [1/2]

template<class Space >

const Space::State * aikido::statespace::CartesianProduct::getSubState	(	const State *	_state,
		std::size_t	_index
	)		const

Gets substate of type Space::State from a CompoundState by index.

This is an overload for when _state is const.

Template Parameters

Space type of StateSpace for subspace _index

Parameters

_state	state in this `CartesianProduct`
_index	in the range [ 0, `getNumSubspaces()` ]

Returns: state at _index

◆ getSubState() [2/2]

template<class Space >

Space::State * aikido::statespace::CartesianProduct::getSubState	(	State *	_state,
		std::size_t	_index
	)		const

Gets substate of type Space::State from a CompoundState by index.

Template Parameters

Space type of StateSpace for subspace _index

Parameters

_state	state in this `CartesianProduct`
_index	in the range [ 0, `getNumSubspaces()` ]

Returns: state at _index

◆ getSubStateHandle() [1/2]

template<class Space >

Space::StateHandleConst aikido::statespace::CartesianProduct::getSubStateHandle	(	const State *	_state,
		std::size_t	_index
	)		const

Gets substate of type Space::State from a CompoundState by index and wraps it in a Space::ConstStateHandle helper class.

This is an overload for when _state is const.

Template Parameters

Space type of StateSpace for subspace _index

Parameters

_state	state in this `CartesianProduct`
_index	in the range [ 0, \ getNumSubspaces() ]

Returns: state at _index

◆ getSubStateHandle() [2/2]

template<class Space >

Space::StateHandle aikido::statespace::CartesianProduct::getSubStateHandle	(	State *	_state,
		std::size_t	_index
	)		const

Gets substate of type Space::State from a CompoundState by index and wraps it in a Space::StateHandle helper class.

Template Parameters

Space type of StateSpace for subspace _index

Parameters

_state	state in this `CartesianProduct`
_index	in the range [ 0, `getNumSubspaces()` ]

Returns: state at _index

◆ logMap()

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

overridevirtual

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

The tangent space is parameterized by stacking the tangent vector of each subspace in the order the subspaces are listed in.

Parameters

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

Implements aikido::statespace::StateSpace.

◆ print()

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

overridevirtual

Print the contents of each substate contained in the state as a list with each substate enclosed in brackets and including its index Format: [0: ...] [1: ...] ...

[n: ...]

Implements aikido::statespace::StateSpace.

Member Data Documentation

◆ mOffsets

std::vector<std::size_t> aikido::statespace::CartesianProduct::mOffsets

private

◆ mSizeInBytes

std::size_t aikido::statespace::CartesianProduct::mSizeInBytes

private

◆ mSubspaces

std::vector<ConstStateSpacePtr> aikido::statespace::CartesianProduct::mSubspaces

private

Classes

Public Types

Public Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ ScopedState

◆ ScopedStateConst

◆ StateHandle

◆ StateHandleConst

Constructor & Destructor Documentation

◆ CartesianProduct()

Member Function Documentation

◆ allocateStateInBuffer()

◆ cloneState()

◆ compose() [1/3]

◆ compose() [2/3]

◆ compose() [3/3]

◆ copyState()

◆ createState()

◆ expMap()

◆ freeStateInBuffer()

◆ getDimension()

◆ getIdentity()

◆ getInverse()

◆ getNumSubspaces()

◆ getStateSizeInBytes()

◆ getSubspace()

◆ getSubState() [1/2]

◆ getSubState() [2/2]

◆ getSubStateHandle() [1/2]

◆ getSubStateHandle() [2/2]

◆ logMap()

◆ print()

Member Data Documentation

◆ mOffsets

◆ mSizeInBytes

◆ mSubspaces