Differentiable function. More...

#include <hpp/constraints/manipulability.hh>

Inheritance diagram for hpp::constraints::Manipulability:

Collaboration diagram for hpp::constraints::Manipulability:

Public Member Functions
virtual	~Manipulability ()

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 ManipulabilityPtr_t	create (DifferentiableFunctionPtr_t function, DevicePtr_t robot, std::string name)

Protected Member Functions
	Manipulability (DifferentiableFunctionPtr_t function, DevicePtr_t robot, std::string name)
	Concrete class constructor should call this constructor. More...

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

void	impl_jacobian (matrixOut_t jacobian, vectorIn_t arg) 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

Differentiable function.

Constructor & Destructor Documentation

◆ ~Manipulability()

virtual hpp::constraints::Manipulability::~Manipulability ( )

inlinevirtual

◆ Manipulability()

hpp::constraints::Manipulability::Manipulability	(	DifferentiableFunctionPtr_t	function,
		DevicePtr_t	robot,
		std::string	name
	)

protected

Concrete class constructor should call this constructor.

Parameters

function	the function which must be analysed
name	function's name

Member Function Documentation

◆ create()

static ManipulabilityPtr_t hpp::constraints::Manipulability::create	(	DifferentiableFunctionPtr_t	function,
		DevicePtr_t	robot,
		std::string	name
	)

inlinestatic

◆ impl_compute()

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

protectedvirtual

User implementation of function evaluation.

Implements hpp::constraints::DifferentiableFunction.

◆ impl_jacobian()

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