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

Inheritance diagram for hpp::constraints::SymbolicFunction< Expression >:

Collaboration diagram for hpp::constraints::SymbolicFunction< Expression >:

Public Types
typedef boost::shared_ptr< SymbolicFunction >	Ptr_t

typedef boost::weak_ptr< SymbolicFunction >	WkPtr_t

Public Member Functions
virtual	~SymbolicFunction () throw ()

	SymbolicFunction (const std::string &name, const DevicePtr_t &robot, const typename Traits< Expression >::Ptr_t expr, std::vector< bool > mask)

	SymbolicFunction (const std::string &name, size_type sizeInput, size_type sizeInputDerivative, size_type sizeOutput, const typename Traits< Expression >::Ptr_t expr, std::vector< bool > mask)

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 EIGEN_MAKE_ALIGNED_OPERATOR_NEW Ptr_t	create (const std::string &name, const DevicePtr_t &robot, const typename Traits< Expression >::Ptr_t expr)
	Return a shared pointer to a new instance. More...

static Ptr_t	create (const std::string &name, const DevicePtr_t &robot, const typename Traits< Expression >::Ptr_t expr, std::vector< bool > mask)
	Return a shared pointer to a new instance. More...

static Ptr_t	create (const std::string &name, size_type sizeInput, size_type sizeInputDerivative, size_type sizeOutput, const typename Traits< Expression >::Ptr_t expr)
	Return a shared pointer to a new instance. More...

Protected Member Functions
virtual void	impl_compute (LiegroupElementRef result, ConfigurationIn_t argument) const throw ()
	Compute value of error. More...

virtual void	impl_jacobian (matrixOut_t jacobian, ConfigurationIn_t arg) const throw ()

void	init (const Ptr_t &self)

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...

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

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...

Member Typedef Documentation

◆ Ptr_t

template<typename Expression >

typedef boost::shared_ptr<SymbolicFunction> hpp::constraints::SymbolicFunction< Expression >::Ptr_t

◆ WkPtr_t

template<typename Expression >

typedef boost::weak_ptr<SymbolicFunction> hpp::constraints::SymbolicFunction< Expression >::WkPtr_t

Constructor & Destructor Documentation

◆ ~SymbolicFunction()

template<typename Expression >

virtual hpp::constraints::SymbolicFunction< Expression >::~SymbolicFunction	(	)
throw	(
	)

inlinevirtual

◆ SymbolicFunction() [1/2]

template<typename Expression >

hpp::constraints::SymbolicFunction< Expression >::SymbolicFunction	(	const std::string &	name,
		const DevicePtr_t &	robot,
		const typename Traits< Expression >::Ptr_t	expr,
		std::vector< bool >	mask
	)

inline

◆ SymbolicFunction() [2/2]

template<typename Expression >

hpp::constraints::SymbolicFunction< Expression >::SymbolicFunction	(	const std::string &	name,
		size_type	sizeInput,
		size_type	sizeInputDerivative,
		size_type	sizeOutput,
		const typename Traits< Expression >::Ptr_t	expr,
		std::vector< bool >	mask
	)

inline

Member Function Documentation

◆ create() [1/3]

template<typename Expression >

static EIGEN_MAKE_ALIGNED_OPERATOR_NEW Ptr_t hpp::constraints::SymbolicFunction< Expression >::create	(	const std::string &	name,
		const DevicePtr_t &	robot,
		const typename Traits< Expression >::Ptr_t	expr
	)

inlinestatic

Return a shared pointer to a new instance.

◆ create() [2/3]

template<typename Expression >

static Ptr_t hpp::constraints::SymbolicFunction< Expression >::create	(	const std::string &	name,
		const DevicePtr_t &	robot,
		const typename Traits< Expression >::Ptr_t	expr,
		std::vector< bool >	mask
	)

inlinestatic

Return a shared pointer to a new instance.

References Eigen::assert().

◆ create() [3/3]

template<typename Expression >

static Ptr_t hpp::constraints::SymbolicFunction< Expression >::create	(	const std::string &	name,
		size_type	sizeInput,
		size_type	sizeInputDerivative,
		size_type	sizeOutput,
		const typename Traits< Expression >::Ptr_t	expr
	)

inlinestatic

Return a shared pointer to a new instance.

◆ impl_compute()

template<typename Expression >

virtual void hpp::constraints::SymbolicFunction< Expression >::impl_compute	(	LiegroupElementRef	result,
		ConfigurationIn_t	argument
	)		const
throw	(
	)

inlineprotectedvirtual

Compute value of error.

Parameters

argument configuration of the robot,

Return values

result error vector

◆ impl_jacobian()

template<typename Expression >

virtual void hpp::constraints::SymbolicFunction< Expression >::impl_jacobian	(	matrixOut_t	jacobian,
		ConfigurationIn_t	arg
	)		const
throw	(
	)

inlineprotectedvirtual

◆ init()

template<typename Expression >

void hpp::constraints::SymbolicFunction< Expression >::init ( const Ptr_t & self )

inlineprotected

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Member Typedef Documentation

◆ Ptr_t

◆ WkPtr_t

Constructor & Destructor Documentation

◆ ~SymbolicFunction()

◆ SymbolicFunction() [1/2]

◆ SymbolicFunction() [2/2]

Member Function Documentation

◆ create() [1/3]

◆ create() [2/3]

◆ create() [3/3]

◆ impl_compute()

◆ impl_jacobian()

◆ init()