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

#include <aikido/statespace/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`. More...

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
	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 *_out) 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 n-dimensional vector represented by the state Format: [x_1, x_2, ..., x_n]. 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...

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

Private Member Functions
Eigen::Map< VectorNd >	getMutableValue (State *_state) const
	Gets the mutable value stored in a Rn::State. More...

Private Attributes
int	mDimension
	Dimension of the real vector space. More...

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.

Member Typedef Documentation

◆ ScopedState

template<int N>

using aikido::statespace::R< N >::ScopedState = statespace::ScopedState<StateHandle>

◆ ScopedStateConst

template<int N>

using aikido::statespace::R< N >::ScopedStateConst = statespace::ScopedState<StateHandleConst>

◆ StateHandle

template<int N>

using aikido::statespace::R< N >::StateHandle = RStateHandle<State>

◆ StateHandleConst

template<int N>

using aikido::statespace::R< N >::StateHandleConst = RStateHandle<const State>

◆ VectorNd

template<int N>

using aikido::statespace::R< N >::VectorNd = Eigen::Matrix<double, N, 1>

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.

◆ cloneState()

template<int N>

auto aikido::statespace::R< N >::cloneState ( const StateSpace::State * stateIn ) const

Creates an identical clone of stateIn.

◆ compose() [1/3]

template<int N>

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]

template<int N>

void aikido::statespace::R< N >::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]

template<int N>

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()

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

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

overridevirtual

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

Implements aikido::statespace::StateSpace.

◆ freeStateInBuffer()

template<int N>

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

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.

◆ getIdentity()

template<int N>

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

template<int N>

void aikido::statespace::R< N >::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.

◆ getMutableValue()

template<int N>

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

private

Gets the mutable value stored in a Rn::State.

This is used internally to implement the public getValue member functions.

Parameters

_state element of this state space

Returns: mutable reference to real vector stored in _state

◆ 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

overridevirtual

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

Implements aikido::statespace::StateSpace.

◆ print()

template<int N>

void aikido::statespace::R< N >::print	(	const StateSpace::State *	_state,
		std::ostream &	_os
	)		const

overridevirtual

Print the n-dimensional vector represented by the state Format: [x_1, x_2, ..., x_n].

Implements aikido::statespace::StateSpace.

◆ 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`

Member Data Documentation

◆ DimensionAtCompileTime

template<int N>

constexpr int aikido::statespace::R< N >::DimensionAtCompileTime = N

staticconstexpr

Dimension of the space.

◆ mDimension

template<int N>

int aikido::statespace::R< N >::mDimension

private

Dimension of the real vector space.

Note that this value is only used for dynamic sized vector space (the dimension is changable).

Warning: Don't use this variable directly. Use getDimension() instead.

See also: getDimension().

Classes

Public Types

Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Detailed Description

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

Member Typedef Documentation

◆ ScopedState

◆ ScopedStateConst

◆ StateHandle

◆ StateHandleConst

◆ VectorNd

Constructor & Destructor Documentation

◆ R() [1/2]

◆ R() [2/2]

Member Function Documentation

◆ allocateStateInBuffer()

◆ cloneState()

◆ compose() [1/3]

◆ compose() [2/3]

◆ compose() [3/3]

◆ copyState()

◆ createState()

◆ expMap()

◆ freeStateInBuffer()

◆ getDimension()

◆ getIdentity()

◆ getInverse()

◆ getMutableValue()

◆ getStateSizeInBytes()

◆ getValue()

◆ logMap()

◆ print()

◆ setValue()

Member Data Documentation

◆ DimensionAtCompileTime

◆ mDimension

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