State multibody representation. More...

#include <crocoddyl/multibody/states/multibody.hpp>

Public Types
typedef StateAbstractTpl< Scalar >	Base

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef pinocchio::ModelTpl< Scalar >	PinocchioModel

typedef MathBase::VectorXs	VectorXs

Public Member Functions
	StateMultibodyTpl (boost::shared_ptr< PinocchioModel > model)
	Initialize the multibody state. More...

virtual void	diff (const Eigen::Ref< const VectorXs > &x0, const Eigen::Ref< const VectorXs > &x1, Eigen::Ref< VectorXs > dxout) const

const boost::shared_ptr< PinocchioModel > &	get_pinocchio () const
	Return the Pinocchio model (i.e., model of the rigid body system)

virtual void	integrate (const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &dx, Eigen::Ref< VectorXs > xout) const

virtual void	Jdiff (const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &, Eigen::Ref< MatrixXs > Jfirst, Eigen::Ref< MatrixXs > Jsecond, const Jcomponent firstsecond=both) const

virtual void	Jintegrate (const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &dx, Eigen::Ref< MatrixXs > Jfirst, Eigen::Ref< MatrixXs > Jsecond, const Jcomponent firstsecond=both, const AssignmentOp=setto) const

virtual void	JintegrateTransport (const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &dx, Eigen::Ref< MatrixXs > Jin, const Jcomponent firstsecond) const

virtual VectorXs	rand () const
	Generate a random state. More...

virtual VectorXs	zero () const
	Generate a zero state. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Protected Attributes
bool	has_limits_
	Indicates whether any of the state limits is finite.

VectorXs	lb_
	Lower state limits.

std::size_t	ndx_
	State rate dimension.

std::size_t	nq_
	Configuration dimension.

std::size_t	nv_
	Velocity dimension.

std::size_t	nx_
	State dimension.

VectorXs	ub_
	Upper state limits.

Detailed Description

template<typename _Scalar>
class crocoddyl::StateMultibodyTpl< _Scalar >

State multibody representation.

A multibody state is described by the configuration point and its tangential velocity, or in other words, by the generalized position and velocity coordinates of a rigid-body system. For this state, we describe its operators: difference, integrates, transport and their derivatives for any Pinocchio model.

For more details about these operators, please read the documentation of the StateAbstractTpl class.

See also: diff(), integrate(), Jdiff(), Jintegrate() and JintegrateTransport()

Definition at line 305 of file fwd.hpp.

Constructor & Destructor Documentation

◆ StateMultibodyTpl()

StateMultibodyTpl ( boost::shared_ptr< PinocchioModel > model )

explicit

Initialize the multibody state.

Parameters

[in] model Pinocchio model

Member Function Documentation

◆ zero()

virtual VectorXs zero ( ) const

virtual

Generate a zero state.

Note that the zero configuration is computed using pinocchio::neutral.

◆ rand()

virtual VectorXs rand ( ) const

virtual

Generate a random state.

Note that the random configuration is computed using pinocchio::random which satisfies the manifold definition (e.g., the quaterion definition)

The documentation for this class was generated from the following files:

include/crocoddyl/multibody/fwd.hpp
include/crocoddyl/multibody/states/multibody.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes