hpp-constraints  4.9.1
Definition of basic geometric constraints for motion planning
hpp::constraints::Identity Class Reference

#include <hpp/constraints/affine-function.hh>

Inheritance diagram for hpp::constraints::Identity:
Collaboration diagram for hpp::constraints::Identity:

Public Member Functions

 Identity (const LiegroupSpacePtr_t space, const std::string &name)
 
- Public Member Functions inherited from hpp::constraints::DifferentiableFunction
virtual ~DifferentiableFunction ()
 
LiegroupElement operator() (vectorIn_t argument) const
 
void value (LiegroupElementRef result, vectorIn_t argument) const
 
void jacobian (matrixOut_t jacobian, vectorIn_t argument) const
 
const ArrayXbactiveParameters () const
 
const ArrayXbactiveDerivativeParameters () const
 
size_type inputSize () const
 Get dimension of input vector. More...
 
size_type inputDerivativeSize () const
 
LiegroupSpacePtr_t outputSpace () const
 Get output space. More...
 
size_type outputSize () const
 Get dimension of output vector. More...
 
size_type outputDerivativeSize () const
 Get dimension of output derivative vector. More...
 
const std::string & name () const
 Get function name. More...
 
virtual std::ostream & print (std::ostream &o) const
 Display object in a stream. More...
 
std::string context () const
 
void context (const std::string &c)
 
void finiteDifferenceForward (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const
 
void finiteDifferenceCentral (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const
 

Static Public Member Functions

static IdentityPtr_t create (const LiegroupSpacePtr_t space, const std::string &name)
 

Protected Member Functions

void impl_compute (LiegroupElementRef y, vectorIn_t arg) const
 User implementation of function evaluation. More...
 
void impl_jacobian (matrixOut_t J, vectorIn_t) const
 
- Protected Member Functions inherited from hpp::constraints::DifferentiableFunction
 DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, size_type sizeOutput, std::string name=std::string())
 Concrete class constructor should call this constructor. More...
 
 DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, const LiegroupSpacePtr_t &outputSpace, std::string name=std::string())
 Concrete class constructor should call this constructor. More...
 

Additional Inherited Members

- Protected Attributes inherited from hpp::constraints::DifferentiableFunction
size_type inputSize_
 Dimension of input vector. More...
 
size_type inputDerivativeSize_
 Dimension of input derivative. More...
 
LiegroupSpacePtr_t outputSpace_
 Dimension of output vector. More...
 
ArrayXb activeParameters_
 
ArrayXb activeDerivativeParameters_
 

Detailed Description

Identity function \( q_{out} = q_{in} \)

Todo:
should we handle specifically this function is the solvers ?

Constructor & Destructor Documentation

◆ Identity()

hpp::constraints::Identity::Identity ( const LiegroupSpacePtr_t  space,
const std::string &  name 
)
inline

Member Function Documentation

◆ create()

static IdentityPtr_t hpp::constraints::Identity::create ( const LiegroupSpacePtr_t  space,
const std::string &  name 
)
inlinestatic

◆ impl_compute()

void hpp::constraints::Identity::impl_compute ( LiegroupElementRef  result,
vectorIn_t  argument 
) const
inlineprotectedvirtual

User implementation of function evaluation.

Implements hpp::constraints::DifferentiableFunction.

◆ impl_jacobian()

void hpp::constraints::Identity::impl_jacobian ( matrixOut_t  J,
vectorIn_t   
) const
inlineprotectedvirtual

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