The two-dimensional special orthogonal group SO(2), i.e. More...

#include <aikido/statespace/SO2.hpp>

Inheritance diagram for aikido::statespace::SO2:

Classes
class	State

Public Types
using	StateHandle = SO2StateHandle< State >

using	StateHandleConst = SO2StateHandle< 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
	SO2 ()=default
	Constructs a state space representing SO(2). 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...

double	toAngle (const State *state) const
	Returns state as a rotation angle in (-pi, pi]. More...

void	fromAngle (State *state, double angle) const
	Sets state from a rotation angle in (-inf, inf). More...

Eigen::Rotation2Dd	toRotation (const State *state) const
	Returns state as an Eigen rotation. More...

void	fromRotation (State *state, const Eigen::Rotation2Dd &rotation) const
	Sets state from an Eigen rotation. 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 angle represented by the state. 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...

Detailed Description

The two-dimensional special orthogonal group SO(2), i.e.

the space of planar rigid body rotations.

Member Typedef Documentation

◆ ScopedState

using aikido::statespace::SO2::ScopedState = statespace::ScopedState<StateHandle>

◆ ScopedStateConst

using aikido::statespace::SO2::ScopedStateConst = statespace::ScopedState<StateHandleConst>

◆ StateHandle

using aikido::statespace::SO2::StateHandle = SO2StateHandle<State>

◆ StateHandleConst

using aikido::statespace::SO2::StateHandleConst = SO2StateHandle<const State>

Constructor & Destructor Documentation

◆ SO2()

aikido::statespace::SO2::SO2 ( )

default

Constructs a state space representing SO(2).

Member Function Documentation

◆ allocateStateInBuffer()

StateSpace::State* aikido::statespace::SO2::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::SO2::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::SO2::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::SO2::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::SO2::createState ( ) const

Helper function to create a ScopedState.

Returns: new ScopedState.

◆ expMap()

void aikido::statespace::SO2::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 a rotation angle.

Parameters

[in]	tangent	Element of the tangent space.
[out]	out	Corresponding element of the Lie group.

Implements aikido::statespace::StateSpace.

◆ freeStateInBuffer()

void aikido::statespace::SO2::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.

◆ fromAngle()

void aikido::statespace::SO2::fromAngle	(	State *	state,
		double	angle
	)		const

Sets state from a rotation angle in (-inf, inf).

Parameters

[out]	state	State corresponding to angle.
[in]	angle	Rotation angle in (-inf, inf).

◆ fromRotation()

void aikido::statespace::SO2::fromRotation	(	State *	state,
		const Eigen::Rotation2Dd &	rotation
	)		const

Sets state from an Eigen rotation.

Parameters

[out]	state	State corresponding to rotation.
[in]	rotation	Eigen rotation.

◆ getDimension()

std::size_t aikido::statespace::SO2::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::SO2::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::SO2::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.

◆ getStateSizeInBytes()

std::size_t aikido::statespace::SO2::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::SO2::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 as a rotation angle.

Parameters

[in]	in	Element of this Lie group.
[out]	tangent	Corresponding element of the tangent space.

Implements aikido::statespace::StateSpace.

◆ print()

void aikido::statespace::SO2::print	(	const StateSpace::State *	state,
		std::ostream &	os
	)		const

overridevirtual

Print the angle represented by the state.

Implements aikido::statespace::StateSpace.

◆ toAngle()

double aikido::statespace::SO2::toAngle ( const State * state ) const

Returns state as a rotation angle in (-pi, pi].

Parameters

[in] state State.

◆ toRotation()

Eigen::Rotation2Dd aikido::statespace::SO2::toRotation ( const State * state ) const

Returns state as an Eigen rotation.

Parameters

[in] state State.

Classes

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ ScopedState

◆ ScopedStateConst

◆ StateHandle

◆ StateHandleConst

Constructor & Destructor Documentation

◆ SO2()

Member Function Documentation

◆ allocateStateInBuffer()

◆ cloneState()

◆ compose() [1/3]

◆ compose() [2/3]

◆ compose() [3/3]

◆ copyState()

◆ createState()

◆ expMap()

◆ freeStateInBuffer()

◆ fromAngle()

◆ fromRotation()

◆ getDimension()

◆ getIdentity()

◆ getInverse()

◆ getStateSizeInBytes()

◆ logMap()

◆ print()

◆ toAngle()

◆ toRotation()