adam.jax.jax_like

adam.jax.jax_like#

Classes#

`JaxLike`	Wrapper class for Jax types
`JaxLikeFactory`	Abstract class for a generic Array wrapper. Every method should be implemented for every data type.
`SpatialMath`	Class implementing the main geometric functions used for computing rigid-body algorithm

Module Contents#

class adam.jax.jax_like.JaxLike[source]#

Bases: adam.core.spatial_math.ArrayLike

Wrapper class for Jax types

array: jax.numpy.array[source]#

__setitem__(idx, value: JaxLike | numpy.typing.ArrayLike)[source]#: Overrides set item operator

__getitem__(idx) → JaxLike[source]#: Overrides get item operator

property shape[source]#

reshape(*args)[source]#

property T: JaxLike[source]#: Returns: JaxLike: transpose of the array

__matmul__(other: JaxLike | numpy.typing.ArrayLike) → JaxLike[source]#: Overrides @ operator

__rmatmul__(other: JaxLike | numpy.typing.ArrayLike) → JaxLike[source]#: Overrides @ operator

__mul__(other: JaxLike | numpy.typing.ArrayLike) → JaxLike[source]#: Overrides * operator

__rmul__(other: JaxLike | numpy.typing.ArrayLike) → JaxLike[source]#: Overrides * operator

__truediv__(other: JaxLike | numpy.typing.ArrayLike) → JaxLike[source]#: Overrides / operator

__add__(other: JaxLike | numpy.typing.ArrayLike) → JaxLike[source]#: Overrides + operator

__radd__(other: JaxLike | numpy.typing.ArrayLike) → JaxLike[source]#: Overrides + operator

__sub__(other: JaxLike | numpy.typing.ArrayLike) → JaxLike[source]#: Overrides - operator

__rsub__(other: JaxLike | numpy.typing.ArrayLike) → JaxLike[source]#: Overrides - operator

__neg__() → JaxLike[source]#: Overrides - operator

class adam.jax.jax_like.JaxLikeFactory[source]#

Bases: adam.core.spatial_math.ArrayLikeFactory

Abstract class for a generic Array wrapper. Every method should be implemented for every data type.

static zeros(*x) → JaxLike[source]#

Returns:: Matrix of zeros of dim *x
Return type:: JaxLike

static eye(x) → JaxLike[source]#

Returns:: Identity matrix of dimension x
Return type:: JaxLike

static array(x) → JaxLike[source]#

Returns:: Vector wrapping *x
Return type:: JaxLike

class adam.jax.jax_like.SpatialMath[source]#

Bases: SpatialMath

Class implementing the main geometric functions used for computing rigid-body algorithm

Parameters:: ArrayLike – abstract class describing a generic Array wrapper. It needs to be implemented for every data type

static sin(x: numpy.typing.ArrayLike) → JaxLike[source]#

Parameters:: x (npt.ArrayLike) – angle value
Returns:: sin of x
Return type:: JaxLike

static cos(x: numpy.typing.ArrayLike) → JaxLike[source]#

Parameters:: x (npt.ArrayLike) – angle value
Returns:: cos of x
Return type:: JaxLike

static outer(x: numpy.typing.ArrayLike, y: numpy.typing.ArrayLike) → JaxLike[source]#

Parameters:

x (npt.ArrayLike) – vector
y (npt.ArrayLike) – vector

Returns:

outer product between x and y

Return type:

JaxLike

static skew(x: JaxLike | numpy.typing.ArrayLike) → JaxLike[source]#

Parameters:: x (Union[JaxLike, npt.ArrayLike]) – vector
Returns:: the skew symmetric matrix from x
Return type:: JaxLike

static vertcat(*x) → JaxLike[source]#

Returns:: Vertical concatenation of elements
Return type:: JaxLike

static horzcat(*x) → JaxLike[source]#

Returns:: Horizontal concatenation of elements
Return type:: JaxLike