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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, LAAS-CNRS, Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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#ifndef CROCODDYL_CORE_STATES_EUCLIDEAN_HPP_ |
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#define CROCODDYL_CORE_STATES_EUCLIDEAN_HPP_ |
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#include "crocoddyl/core/fwd.hpp" |
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#include "crocoddyl/core/state-base.hpp" |
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namespace crocoddyl { |
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template <typename _Scalar> |
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class StateVectorTpl : public StateAbstractTpl<_Scalar> { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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CROCODDYL_DERIVED_CAST(StateBase, StateVectorTpl) |
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typedef _Scalar Scalar; |
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typedef MathBaseTpl<Scalar> MathBase; |
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typedef typename MathBase::VectorXs VectorXs; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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explicit StateVectorTpl(const std::size_t nx); |
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virtual ~StateVectorTpl(); |
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virtual VectorXs zero() const override; |
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virtual VectorXs rand() const override; |
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virtual void diff(const Eigen::Ref<const VectorXs>& x0, |
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const Eigen::Ref<const VectorXs>& x1, |
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Eigen::Ref<VectorXs> dxout) const override; |
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virtual void integrate(const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& dx, |
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Eigen::Ref<VectorXs> xout) const override; |
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virtual void Jdiff(const Eigen::Ref<const VectorXs>&, |
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const Eigen::Ref<const VectorXs>&, |
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Eigen::Ref<MatrixXs> Jfirst, Eigen::Ref<MatrixXs> Jsecond, |
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const Jcomponent firstsecond = both) const override; |
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virtual void Jintegrate(const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& dx, |
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Eigen::Ref<MatrixXs> Jfirst, |
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Eigen::Ref<MatrixXs> Jsecond, |
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const Jcomponent firstsecond = both, |
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const AssignmentOp = setto) const override; |
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virtual void JintegrateTransport(const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& dx, |
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Eigen::Ref<MatrixXs> Jin, |
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const Jcomponent firstsecond) const override; |
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template <typename NewScalar> |
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StateVectorTpl<NewScalar> cast() const; |
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/** |
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* @brief Print relevant information of the state vector |
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* |
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* @param[out] os Output stream object |
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*/ |
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virtual void print(std::ostream& os) const override; |
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protected: |
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using StateAbstractTpl<Scalar>::nx_; |
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using StateAbstractTpl<Scalar>::ndx_; |
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using StateAbstractTpl<Scalar>::nq_; |
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using StateAbstractTpl<Scalar>::nv_; |
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using StateAbstractTpl<Scalar>::lb_; |
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using StateAbstractTpl<Scalar>::ub_; |
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using StateAbstractTpl<Scalar>::has_limits_; |
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}; |
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} // namespace crocoddyl |
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/* --- Details -------------------------------------------------------------- */ |
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/* --- Details -------------------------------------------------------------- */ |
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/* --- Details -------------------------------------------------------------- */ |
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#include "crocoddyl/core/states/euclidean.hxx" |
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CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::StateVectorTpl) |
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#endif // CROCODDYL_CORE_STATES_EUCLIDEAN_HPP_ |
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