| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, LAAS-CNRS, Heriot-Watt University | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #ifndef CROCODDYL_CORE_STATES_EUCLIDEAN_HPP_ | ||
| 10 | #define CROCODDYL_CORE_STATES_EUCLIDEAN_HPP_ | ||
| 11 | |||
| 12 | #include "crocoddyl/core/fwd.hpp" | ||
| 13 | #include "crocoddyl/core/state-base.hpp" | ||
| 14 | |||
| 15 | namespace crocoddyl { | ||
| 16 | |||
| 17 | template <typename _Scalar> | ||
| 18 | class StateVectorTpl : public StateAbstractTpl<_Scalar> { | ||
| 19 | public: | ||
| 20 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 21 | ✗ | CROCODDYL_DERIVED_CAST(StateBase, StateVectorTpl) | |
| 22 | |||
| 23 | typedef _Scalar Scalar; | ||
| 24 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 25 | typedef typename MathBase::VectorXs VectorXs; | ||
| 26 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 27 | |||
| 28 | explicit StateVectorTpl(const std::size_t nx); | ||
| 29 | virtual ~StateVectorTpl(); | ||
| 30 | |||
| 31 | virtual VectorXs zero() const override; | ||
| 32 | virtual VectorXs rand() const override; | ||
| 33 | virtual void diff(const Eigen::Ref<const VectorXs>& x0, | ||
| 34 | const Eigen::Ref<const VectorXs>& x1, | ||
| 35 | Eigen::Ref<VectorXs> dxout) const override; | ||
| 36 | virtual void integrate(const Eigen::Ref<const VectorXs>& x, | ||
| 37 | const Eigen::Ref<const VectorXs>& dx, | ||
| 38 | Eigen::Ref<VectorXs> xout) const override; | ||
| 39 | virtual void Jdiff(const Eigen::Ref<const VectorXs>&, | ||
| 40 | const Eigen::Ref<const VectorXs>&, | ||
| 41 | Eigen::Ref<MatrixXs> Jfirst, Eigen::Ref<MatrixXs> Jsecond, | ||
| 42 | const Jcomponent firstsecond = both) const override; | ||
| 43 | virtual void Jintegrate(const Eigen::Ref<const VectorXs>& x, | ||
| 44 | const Eigen::Ref<const VectorXs>& dx, | ||
| 45 | Eigen::Ref<MatrixXs> Jfirst, | ||
| 46 | Eigen::Ref<MatrixXs> Jsecond, | ||
| 47 | const Jcomponent firstsecond = both, | ||
| 48 | const AssignmentOp = setto) const override; | ||
| 49 | virtual void JintegrateTransport(const Eigen::Ref<const VectorXs>& x, | ||
| 50 | const Eigen::Ref<const VectorXs>& dx, | ||
| 51 | Eigen::Ref<MatrixXs> Jin, | ||
| 52 | const Jcomponent firstsecond) const override; | ||
| 53 | |||
| 54 | template <typename NewScalar> | ||
| 55 | StateVectorTpl<NewScalar> cast() const; | ||
| 56 | |||
| 57 | /** | ||
| 58 | * @brief Print relevant information of the state vector | ||
| 59 | * | ||
| 60 | * @param[out] os Output stream object | ||
| 61 | */ | ||
| 62 | virtual void print(std::ostream& os) const override; | ||
| 63 | |||
| 64 | protected: | ||
| 65 | using StateAbstractTpl<Scalar>::nx_; | ||
| 66 | using StateAbstractTpl<Scalar>::ndx_; | ||
| 67 | using StateAbstractTpl<Scalar>::nq_; | ||
| 68 | using StateAbstractTpl<Scalar>::nv_; | ||
| 69 | using StateAbstractTpl<Scalar>::lb_; | ||
| 70 | using StateAbstractTpl<Scalar>::ub_; | ||
| 71 | using StateAbstractTpl<Scalar>::has_limits_; | ||
| 72 | }; | ||
| 73 | |||
| 74 | } // namespace crocoddyl | ||
| 75 | |||
| 76 | /* --- Details -------------------------------------------------------------- */ | ||
| 77 | /* --- Details -------------------------------------------------------------- */ | ||
| 78 | /* --- Details -------------------------------------------------------------- */ | ||
| 79 | #include "crocoddyl/core/states/euclidean.hxx" | ||
| 80 | |||
| 81 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::StateVectorTpl) | ||
| 82 | |||
| 83 | #endif // CROCODDYL_CORE_STATES_EUCLIDEAN_HPP_ | ||
| 84 |