Set of implicit constraints. More...

#include <hpp/constraints/implicit-constraint-set.hh>

Inheritance diagram for hpp::constraints::ImplicitConstraintSet:

Collaboration diagram for hpp::constraints::ImplicitConstraintSet:

Public Types
typedef std::vector< ImplicitPtr_t >	Implicits_t

Public Member Functions
virtual	~ImplicitConstraintSet () throw ()

std::ostream &	print (std::ostream &os) const

	ImplicitConstraintSet (const std::string &name)
	Constructor. More...

	ImplicitConstraintSet ()

	ImplicitConstraintSet (const ImplicitConstraintSet &o)

Function stack management
void	add (const ImplicitPtr_t &constraint)

const std::vector< std::size_t > &	inequalityIndices () const
	Get indices of constraint coordinates that are inequality. More...

const Eigen::RowBlockIndices &	equalityIndices () const
	Get indices of constraint coordinates that are equality. More...

const Implicits_t &	constraints () const
	Get constraints. More...

void	merge (const ImplicitConstraintSetPtr_t &other)
	The output columns selection of other is not taken into account. More...

Public Member Functions inherited from hpp::constraints::Implicit
bool	operator== (const Implicit &other) const
	Operator equality. More...

virtual ImplicitPtr_t	copy () const
	Copy object and return shared pointer to copy. More...

virtual	~Implicit ()

DifferentiableFunction &	function () const
	Return a reference to function \(h\). More...

const DifferentiableFunctionPtr_t &	functionPtr () const
	Return a reference to function \(h\). More...

void	rightHandSideFromConfig (ConfigurationIn_t config)
	Set the right hand side from a configuration. More...

void	rightHandSide (vectorIn_t rhs)
	Set the right hand side of the equation. More...

vectorIn_t	rightHandSide () const
	Return the right hand side of the equation. More...

size_type	rhsSize () const HPP_CONSTRAINTS_DEPRECATED
	Return the dimension of the left hand side function tangent output space. More...

size_type	parameterSize () const
	Get size of parameter defining the right hand side of the constraint. More...

size_type	rightHandSideSize () const
	Get size of right hand side of the constraint. More...

const ComparisonTypes_t &	comparisonType () const
	Return the ComparisonType. More...

void	comparisonType (const ComparisonTypes_t &comp)
	Set the comparison type. More...

bool	constantRightHandSide () const HPP_CONSTRAINTS_DEPRECATED
	Whether right hand side is constant. More...

vectorOut_t	rightHandSide ()
	Return a modifiable reference to right hand side of equation. More...

vectorOut_t	nonConstRightHandSide () HPP_CONSTRAINTS_DEPRECATED
	Return a modifiable reference to right hand side of equation. More...

void	rightHandSideFunction (const DifferentiableFunctionPtr_t &rhsF)
	Set time-varying right hand side. More...

const DifferentiableFunctionPtr_t &	rightHandSideFunction () const
	Get time-varying right hand side. More...

vectorIn_t	rightHandSideAt (const value_type &s)
	Evaluate and set right hand side at given time. More...

Static Public Member Functions
static ImplicitConstraintSetPtr_t	create (const std::string &name)
	Return a shared pointer to a new instance. More...

Static Public Member Functions inherited from hpp::constraints::Implicit
static ImplicitPtr_t	create (const DifferentiableFunctionPtr_t &function)
	Create a shared pointer to a new instance. More...

static ImplicitPtr_t	create (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp)
	Create a shared pointer to a new instance. More...

static ImplicitPtr_t	create (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp, vectorIn_t rhs)
	Create a shared pointer to a new instance. More...

static ImplicitPtr_t	createCopy (const ImplicitPtr_t &other)
	Create a copy and return shared pointer. More...

Additional Inherited Members
Protected Member Functions inherited from hpp::constraints::Implicit
	Implicit (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp)
	Constructor. More...

	Implicit (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp, vectorIn_t rhs)
	Constructor. More...

	Implicit (const Implicit &other)
	Copy constructor. More...

virtual bool	isEqual (const Implicit &other, bool swapAndTest) const
	Test equality with other instance. More...

void	init (const ImplicitWkPtr_t &weak)

Detailed Description

Set of implicit constraints.

This class also handles selection of cols of the output matrix.

Member Typedef Documentation

◆ Implicits_t

typedef std::vector<ImplicitPtr_t> hpp::constraints::ImplicitConstraintSet::Implicits_t

Constructor & Destructor Documentation

◆ ~ImplicitConstraintSet()

virtual hpp::constraints::ImplicitConstraintSet::~ImplicitConstraintSet	(	)
throw	(
	)

inlinevirtual

◆ ImplicitConstraintSet() [1/3]

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

inline

Constructor.

Parameters

name	the name of the constraints,

◆ ImplicitConstraintSet() [2/3]

hpp::constraints::ImplicitConstraintSet::ImplicitConstraintSet ( )

inline

◆ ImplicitConstraintSet() [3/3]

hpp::constraints::ImplicitConstraintSet::ImplicitConstraintSet ( const ImplicitConstraintSet & o )

inline

References constraints().

Member Function Documentation

◆ add()

void hpp::constraints::ImplicitConstraintSet::add ( const ImplicitPtr_t & constraint )

inline

References Eigen::assert(), hpp::constraints::Equality, hpp::constraints::Inferior, and hpp::constraints::Superior.

◆ constraints()

const Implicits_t& hpp::constraints::ImplicitConstraintSet::constraints ( ) const

inline

Get constraints.

Referenced by ImplicitConstraintSet().

◆ create()

static ImplicitConstraintSetPtr_t hpp::constraints::ImplicitConstraintSet::create ( const std::string & name )

inlinestatic

Return a shared pointer to a new instance.

Parameters

name	the name of the constraints,

◆ equalityIndices()

const Eigen::RowBlockIndices& hpp::constraints::ImplicitConstraintSet::equalityIndices ( ) const

inline

Get indices of constraint coordinates that are equality.

◆ inequalityIndices()

const std::vector<std::size_t>& hpp::constraints::ImplicitConstraintSet::inequalityIndices ( ) const

inline

Get indices of constraint coordinates that are inequality.

◆ merge()

void hpp::constraints::ImplicitConstraintSet::merge ( const ImplicitConstraintSetPtr_t & other )

inline

The output columns selection of other is not taken into account.

◆ print()

std::ostream& hpp::constraints::ImplicitConstraintSet::print ( std::ostream & os ) const

inline

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Implicits_t

Constructor & Destructor Documentation

◆ ~ImplicitConstraintSet()

◆ ImplicitConstraintSet() [1/3]

◆ ImplicitConstraintSet() [2/3]

◆ ImplicitConstraintSet() [3/3]

Member Function Documentation

◆ add()

◆ constraints()

◆ create()

◆ equalityIndices()

◆ inequalityIndices()

◆ merge()

◆ print()