Affine function \( f(q) = J * q + b \). More...

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

Inheritance diagram for hpp::constraints::AffineFunction:

Collaboration diagram for hpp::constraints::AffineFunction:

Public Member Functions
	AffineFunction (const matrixIn_t &J, const std::string name="LinearFunction")

	AffineFunction (const matrixIn_t &J, const vectorIn_t &b, const std::string name="LinearFunction")

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...

Additional Inherited Members
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...

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

Affine function \( f(q) = J * q + b \).

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

Constructor & Destructor Documentation

◆ AffineFunction() [1/2]

hpp::constraints::AffineFunction::AffineFunction	(	const matrixIn_t &	J,
		const std::string	name = `"LinearFunction"`
	)

inline

◆ AffineFunction() [2/2]

hpp::constraints::AffineFunction::AffineFunction	(	const matrixIn_t &	J,
		const vectorIn_t &	b,
		const std::string	name = `"LinearFunction"`
	)

inline

References Eigen::assert().

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AffineFunction() [1/2]

◆ AffineFunction() [2/2]