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

#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
	Evaluate the function at a given parameter. More...

void	value (LiegroupElementRef result, vectorIn_t argument) const
	Evaluate the function at a given parameter. More...

void	jacobian (matrixOut_t jacobian, vectorIn_t argument) const
	Computes the jacobian. More...

const ArrayXb &	activeParameters () const
	Returns a vector of booleans that indicates whether the corresponding configuration parameter influences this constraints. More...

const ArrayXb &	activeDerivativeParameters () const
	Returns a vector of booleans that indicates whether the corresponding velocity parameter influences this constraints. More...

size_type	inputSize () const
	Get dimension of input vector. More...

size_type	inputDerivativeSize () const
	Get dimension of input derivative vector. More...

LiegroupSpacePtr_t	outputSpace () const
	Get output element. 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
	Approximate the jacobian using forward finite difference. More...

void	finiteDifferenceCentral (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const
	Approximate the jacobian using forward finite difference. More...

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_
	Initialized to true by this class. More...

ArrayXb	activeDerivativeParameters_
	Initialized to true by this class. More...

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

Implements hpp::constraints::DifferentiableFunction.

Public Member Functions

Static Public Member Functions

Protected Member Functions