hpp-constraints 6.0.0
Definition of basic geometric constraints for motion planning
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active-set-differentiable-function.hh
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1// Copyright (c) 2017, Joseph Mirabel
2// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
3//
4
5// Redistribution and use in source and binary forms, with or without
6// modification, are permitted provided that the following conditions are
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8//
9// 1. Redistributions of source code must retain the above copyright
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12// 2. Redistributions in binary form must reproduce the above copyright
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16// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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28
29#ifndef HPP_CONSTRAINTS_ACTIVE_SET_DIFFERENTIABLE_FUNCTION_HH
30#define HPP_CONSTRAINTS_ACTIVE_SET_DIFFERENTIABLE_FUNCTION_HH
31
35
36namespace hpp {
37namespace constraints {
38
48 : public DifferentiableFunction {
49 public:
55 segments_t intervals)
56 : DifferentiableFunction(f->inputSize(), f->inputDerivativeSize(),
57 f->outputSpace(), "ActiveSet_on_" + f->name()),
58 function_(f),
59 intervals_(intervals) {
60 context(f->context());
61 }
62
64 const DifferentiableFunction& function() const { return *function_; }
65
67 const DifferentiableFunctionPtr_t& functionPtr() const { return function_; }
68
69 protected:
70 typedef std::vector<segments_t> intervalss_t;
71
73 virtual void impl_compute(LiegroupElementRef result,
74 vectorIn_t argument) const {
75 function_->value(result, argument);
76 }
77
78 virtual void impl_jacobian(matrixOut_t jacobian, vectorIn_t arg) const {
79 function_->jacobian(jacobian, arg);
80 for (segments_t::const_iterator _int = intervals_.begin();
81 _int != intervals_.end(); ++_int)
82 jacobian.middleCols(_int->first, _int->second).setZero();
83 }
84
85 bool isEqual(const DifferentiableFunction& other) const {
86 const ActiveSetDifferentiableFunction& castother =
87 dynamic_cast<const ActiveSetDifferentiableFunction&>(other);
88 if (!DifferentiableFunction::isEqual(other)) return false;
89
90 if (function_ != castother.function_) return false;
91 if (intervals_ != castother.intervals_) return false;
92
93 return true;
94 }
95
98}; // class ActiveSetDifferentiableFunction
99} // namespace constraints
100} // namespace hpp
101
102#endif // HPP_CONSTRAINTS_ACTIVE_SET_DIFFERENTIABLE_FUNCTION_HH
Definition active-set-differentiable-function.hh:48
bool isEqual(const DifferentiableFunction &other) const
Definition active-set-differentiable-function.hh:85
segments_t intervals_
Definition active-set-differentiable-function.hh:97
const DifferentiableFunctionPtr_t & functionPtr() const
Get the original function.
Definition active-set-differentiable-function.hh:67
const DifferentiableFunction & function() const
Get the original function.
Definition active-set-differentiable-function.hh:64
virtual void impl_compute(LiegroupElementRef result, vectorIn_t argument) const
User implementation of function evaluation.
Definition active-set-differentiable-function.hh:73
virtual void impl_jacobian(matrixOut_t jacobian, vectorIn_t arg) const
Definition active-set-differentiable-function.hh:78
DifferentiableFunctionPtr_t function_
Definition active-set-differentiable-function.hh:96
ActiveSetDifferentiableFunction(const DifferentiableFunctionPtr_t &f, segments_t intervals)
Definition active-set-differentiable-function.hh:54
std::vector< segments_t > intervalss_t
Definition active-set-differentiable-function.hh:70
Definition differentiable-function.hh:63
#define HPP_CONSTRAINTS_DLLAPI
Definition config.hh:88
shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
Definition fwd.hh:113
pinocchio::vectorIn_t vectorIn_t
Definition fwd.hh:60
Eigen::Ref< matrix_t > matrixOut_t
Definition fwd.hh:58
std::vector< segment_t > segments_t
Definition fwd.hh:84
pinocchio::LiegroupElementRef LiegroupElementRef
Definition fwd.hh:66
Definition active-set-differentiable-function.hh:36