Function of the form q -> g (q_out) - f (q_in) More...

#include <hpp/constraints/explicit/implicit-function.hh>

Inheritance diagram for hpp::constraints::explicit_::ImplicitFunction:

Collaboration diagram for hpp::constraints::explicit_::ImplicitFunction:

Public Types
typedef boost::shared_ptr< ImplicitFunction >	Ptr_t
	create instance and return shared pointer More...

Public Member Functions
const DifferentiableFunctionPtr_t &	inputToOutput () const
	Get function f that maps input variables to output variables. More...

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 Ptr_t	create (const DevicePtr_t &robot, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity) HPP_CONSTRAINTS_DEPRECATED

static Ptr_t	create (const DevicePtr_t &robot, const DifferentiableFunctionPtr_t &function, const DifferentiableFunctionPtr_t &g, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity) HPP_CONSTRAINTS_DEPRECATED
	create instance and return shared pointer More...

static Ptr_t	create (const LiegroupSpacePtr_t &configSpace, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity)
	create instance and return shared pointer More...

Protected Member Functions
	ImplicitFunction (const DevicePtr_t &robot, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity) HPP_CONSTRAINTS_DEPRECATED
	Constructor. More...

	ImplicitFunction (const LiegroupSpacePtr_t &configSpace, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity)
	Constructor. More...

void	impl_compute (LiegroupElementRef result, vectorIn_t argument) const
	Compute g (q_out) - f (q_in) More...

void	impl_jacobian (matrixOut_t jacobian, vectorIn_t arg) const
	Compute Jacobian of g (q_out) - f (q_in) with respect to q. More...

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

Function of the form q -> g (q_out) - f (q_in)

where

q_out is a vector composed of configuration variables of q,
q_in is the vector composed of other configuration variables of q, f, g are differentiable functions with values in a Lie group.

This class is mainly used to create hpp::constraints::Explicit instances.

Member Typedef Documentation

◆ Ptr_t

typedef boost::shared_ptr<ImplicitFunction> hpp::constraints::explicit_::ImplicitFunction::Ptr_t

create instance and return shared pointer

Deprecated:: used create method that takes a LiegroupSpace instead of a robot as input.

Constructor & Destructor Documentation

◆ ImplicitFunction() [1/2]

hpp::constraints::explicit_::ImplicitFunction::ImplicitFunction	(	const DevicePtr_t &	robot,
		const DifferentiableFunctionPtr_t &	function,
		const segments_t &	inputConf,
		const segments_t &	outputConf,
		const segments_t &	inputVelocity,
		const segments_t &	outputVelocity
	)

protected

Constructor.

Deprecated:: used constructor that takes a LiegroupSpace instead of a robot as input.

◆ ImplicitFunction() [2/2]

hpp::constraints::explicit_::ImplicitFunction::ImplicitFunction	(	const LiegroupSpacePtr_t &	configSpace,
		const DifferentiableFunctionPtr_t &	function,
		const segments_t &	inputConf,
		const segments_t &	outputConf,
		const segments_t &	inputVelocity,
		const segments_t &	outputVelocity
	)

protected

Constructor.

Parameters

configSpace	input space of this function - usually a robot configuration space,
function	function f,
inputConf	set of indices defining q_in,
inputVelocity	set of indices defining q_in derivative,
outputConf	set of indices defining q_out
outputVelocity	set of indices defining q_out derivative

Member Function Documentation

◆ create() [1/3]

static Ptr_t hpp::constraints::explicit_::ImplicitFunction::create	(	const DevicePtr_t &	robot,
		const DifferentiableFunctionPtr_t &	function,
		const segments_t &	inputConf,
		const segments_t &	outputConf,
		const segments_t &	inputVelocity,
		const segments_t &	outputVelocity
	)

static

◆ create() [2/3]

static Ptr_t hpp::constraints::explicit_::ImplicitFunction::create	(	const DevicePtr_t &	robot,
		const DifferentiableFunctionPtr_t &	function,
		const DifferentiableFunctionPtr_t &	g,
		const segments_t &	inputConf,
		const segments_t &	outputConf,
		const segments_t &	inputVelocity,
		const segments_t &	outputVelocity
	)

static

create instance and return shared pointer

Deprecated:: used create method that takes a LiegroupSpace instead of a robot as input.

◆ create() [3/3]

static Ptr_t hpp::constraints::explicit_::ImplicitFunction::create	(	const LiegroupSpacePtr_t &	configSpace,
		const DifferentiableFunctionPtr_t &	function,
		const segments_t &	inputConf,
		const segments_t &	outputConf,
		const segments_t &	inputVelocity,
		const segments_t &	outputVelocity
	)

static

create instance and return shared pointer

Parameters

configSpace	input space of this function - usually a robot configuration space,
function	function f,
inputConf	set of indices defining q_in,
inputVelocity	set of indices defining q_in derivative,
outputConf	set of indices defining q_out
outputVelocity	set of indices defining q_out derivative

◆ impl_compute()

void hpp::constraints::explicit_::ImplicitFunction::impl_compute	(	LiegroupElementRef	result,
		vectorIn_t	argument
	)		const

protectedvirtual

Compute g (q_out) - f (q_in)

Implements hpp::constraints::DifferentiableFunction.

◆ impl_jacobian()

void hpp::constraints::explicit_::ImplicitFunction::impl_jacobian	(	matrixOut_t	jacobian,
		vectorIn_t	arg
	)		const

protectedvirtual

Compute Jacobian of g (q_out) - f (q_in) with respect to q.

Implements hpp::constraints::DifferentiableFunction.

◆ inputToOutput()

const DifferentiableFunctionPtr_t& hpp::constraints::explicit_::ImplicitFunction::inputToOutput ( ) const

Get function f that maps input variables to output variables.

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Ptr_t

Constructor & Destructor Documentation

◆ ImplicitFunction() [1/2]

◆ ImplicitFunction() [2/2]

Member Function Documentation

◆ create() [1/3]

◆ create() [2/3]

◆ create() [3/3]

◆ impl_compute()

◆ impl_jacobian()

◆ inputToOutput()