Differentiable function. More...

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

Inheritance diagram for hpp::constraints::DifferentiableFunction:

Public Member Functions
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...

Protected Member Functions
	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...

virtual void	impl_compute (LiegroupElementRef result, vectorIn_t argument) const =0
	User implementation of function evaluation. More...

virtual void	impl_jacobian (matrixOut_t jacobian, vectorIn_t arg) const =0

Protected Attributes
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...

Friends
class	DifferentiableFunctionSet

Detailed Description

Differentiable function.

Constructor & Destructor Documentation

◆ ~DifferentiableFunction()

virtual hpp::constraints::DifferentiableFunction::~DifferentiableFunction ( )

inlinevirtual

◆ DifferentiableFunction() [1/2]

hpp::constraints::DifferentiableFunction::DifferentiableFunction	(	size_type	sizeInput,
		size_type	sizeInputDerivative,
		size_type	sizeOutput,
		std::string	name = `std::string()`
	)

protected

Concrete class constructor should call this constructor.

Parameters

sizeInput	dimension of the function input
sizeInputDerivative	dimension of the function input derivative,
sizeOutput	dimension of the output,
name	function's name

◆ DifferentiableFunction() [2/2]

hpp::constraints::DifferentiableFunction::DifferentiableFunction	(	size_type	sizeInput,
		size_type	sizeInputDerivative,
		const LiegroupSpacePtr_t &	outputSpace,
		std::string	name = `std::string()`
	)

protected

Concrete class constructor should call this constructor.

Parameters

sizeInput	dimension of the function input
sizeInputDerivative	dimension of the function input derivative,
outputSpace	output space of the function.
name	function name

Member Function Documentation

◆ activeDerivativeParameters()

const ArrayXb& hpp::constraints::DifferentiableFunction::activeDerivativeParameters ( ) const

inline

Returns a vector of booleans that indicates whether the corresponding velocity parameter influences this constraints.

◆ activeParameters()

const ArrayXb& hpp::constraints::DifferentiableFunction::activeParameters ( ) const

inline

Returns a vector of booleans that indicates whether the corresponding configuration parameter influences this constraints.

◆ context() [1/2]

std::string hpp::constraints::DifferentiableFunction::context ( ) const

inline

◆ context() [2/2]

void hpp::constraints::DifferentiableFunction::context ( const std::string & c )

inline

◆ finiteDifferenceCentral()

void hpp::constraints::DifferentiableFunction::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.

Return values

jacobian jacobian will be stored in this argument

Parameters

arg	point at which the jacobian will be computed
robot	use to add configuration and velocities. If set to NULL, the configuration space is considered a vector space.
eps	refers to \(\epsilon\) in http://en.wikipedia.org/wiki/Numerical_differentiation Evaluate the function 2*x.size() times but more precise the finiteDifferenceForward

◆ finiteDifferenceForward()

void hpp::constraints::DifferentiableFunction::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.

Return values

jacobian jacobian will be stored in this argument

Parameters

arg	point at which the jacobian will be computed
robot	use to add configuration and velocities. If set to NULL, the configuration space is considered a vector space.
eps	refers to \(\epsilon\) in http://en.wikipedia.org/wiki/Numerical_differentiation Evaluate the function (x.size() + 1) times but less precise the finiteDifferenceCentral

◆ impl_compute()

virtual void hpp::constraints::DifferentiableFunction::impl_compute	(	LiegroupElementRef	result,
		vectorIn_t	argument
	)		const

protectedpure virtual

User implementation of function evaluation.

Implemented in hpp::constraints::ConstantFunction, hpp::constraints::explicit_::RelativeTransformation, hpp::constraints::explicit_::ImplicitFunction, hpp::constraints::ActiveSetDifferentiableFunction, hpp::constraints::function::OfParameterSubset, hpp::constraints::Manipulability, hpp::constraints::Identity, and hpp::constraints::function::Difference.

Referenced by hpp::constraints::DifferentiableFunctionSet::impl_compute().

◆ impl_jacobian()

virtual void hpp::constraints::DifferentiableFunction::impl_jacobian	(	matrixOut_t	jacobian,
		vectorIn_t	arg
	)		const

protectedpure virtual

Implemented in hpp::constraints::ConstantFunction, hpp::constraints::explicit_::RelativeTransformation, hpp::constraints::explicit_::ImplicitFunction, hpp::constraints::ActiveSetDifferentiableFunction, hpp::constraints::function::OfParameterSubset, hpp::constraints::Manipulability, hpp::constraints::Identity, and hpp::constraints::function::Difference.

Referenced by hpp::constraints::DifferentiableFunctionSet::impl_jacobian().

◆ inputDerivativeSize()

size_type hpp::constraints::DifferentiableFunction::inputDerivativeSize ( ) const

inline

Get dimension of input derivative vector.

The dimension of configuration vectors might differ from the dimension of velocity vectors since some joints are represented by non minimal size vectors: e.g. quaternion for SO(3)

◆ inputSize()

size_type hpp::constraints::DifferentiableFunction::inputSize ( ) const

inline

Get dimension of input vector.

◆ jacobian()

void hpp::constraints::DifferentiableFunction::jacobian	(	matrixOut_t	jacobian,
		vectorIn_t	argument
	)		const

inline

Computes the jacobian.

Return values

jacobian jacobian will be stored in this argument

Parameters

argument point at which the jacobian will be computed

References Eigen::assert().

◆ name()

const std::string& hpp::constraints::DifferentiableFunction::name ( ) const

inline

Get function name.

Returns: Function name.

◆ operator()()

LiegroupElement hpp::constraints::DifferentiableFunction::operator() ( vectorIn_t argument ) const

inline

Evaluate the function at a given parameter.

Note: parameters should be of the correct size.

References Eigen::assert().

◆ outputDerivativeSize()

size_type hpp::constraints::DifferentiableFunction::outputDerivativeSize ( ) const

inline

Get dimension of output derivative vector.

Referenced by hpp::constraints::DifferentiableFunctionSet::impl_jacobian().

◆ outputSize()

size_type hpp::constraints::DifferentiableFunction::outputSize ( ) const

inline

Get dimension of output vector.

Referenced by hpp::constraints::DifferentiableFunctionSet::impl_compute().

◆ outputSpace()

LiegroupSpacePtr_t hpp::constraints::DifferentiableFunction::outputSpace ( ) const

inline

Get output element.

Getting an output element enables users to know the type of Liegroup the function output values lie in.

◆ print()

virtual std::ostream& hpp::constraints::DifferentiableFunction::print ( std::ostream & o ) const

virtual

Display object in a stream.

Reimplemented in hpp::constraints::GenericTransformation< _Options >, hpp::constraints::ConvexShapeContact, hpp::constraints::DifferentiableFunctionSet, hpp::constraints::RelativeCom, hpp::constraints::function::OfParameterSubset, and hpp::constraints::function::Difference.

Referenced by hpp::constraints::operator<<().

◆ value()

void hpp::constraints::DifferentiableFunction::value	(	LiegroupElementRef	result,
		vectorIn_t	argument
	)		const

inline

Evaluate the function at a given parameter.

Note: parameters should be of the correct size.

References Eigen::assert().

Friends And Related Function Documentation

◆ DifferentiableFunctionSet

friend class DifferentiableFunctionSet

friend

Member Data Documentation

◆ activeDerivativeParameters_

ArrayXb hpp::constraints::DifferentiableFunction::activeDerivativeParameters_

protected

Initialized to true by this class.

Child class are responsible for updating it.

See also: activeDerivativeParameters

◆ activeParameters_

ArrayXb hpp::constraints::DifferentiableFunction::activeParameters_

protected

Initialized to true by this class.

Child class are responsible for updating it.

See also: activeParameters

◆ inputDerivativeSize_

size_type hpp::constraints::DifferentiableFunction::inputDerivativeSize_

protected

Dimension of input derivative.

◆ inputSize_

size_type hpp::constraints::DifferentiableFunction::inputSize_

protected

Dimension of input vector.

◆ outputSpace_

LiegroupSpacePtr_t hpp::constraints::DifferentiableFunction::outputSpace_

protected

Dimension of output vector.

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ ~DifferentiableFunction()

◆ DifferentiableFunction() [1/2]

◆ DifferentiableFunction() [2/2]

Member Function Documentation

◆ activeDerivativeParameters()

◆ activeParameters()

◆ context() [1/2]

◆ context() [2/2]

◆ finiteDifferenceCentral()

◆ finiteDifferenceForward()

◆ impl_compute()

◆ impl_jacobian()

◆ inputDerivativeSize()

◆ inputSize()

◆ jacobian()

◆ name()

◆ operator()()

◆ outputDerivativeSize()

◆ outputSize()

◆ outputSpace()

◆ print()

◆ value()

Friends And Related Function Documentation

◆ DifferentiableFunctionSet

Member Data Documentation

◆ activeDerivativeParameters_

◆ activeParameters_

◆ inputDerivativeSize_

◆ inputSize_

◆ outputSpace_