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

Inheritance diagram for hpp::constraints::AffineFunction:

Collaboration diagram for hpp::constraints::AffineFunction:

Static Public Member Functions
static AffineFunctionPtr_t	create (const matrixIn_t &J, const std::string name="LinearFunction")

static AffineFunctionPtr_t	create (const matrixIn_t &J, const vectorIn_t &b, const std::string name="LinearFunction")

Protected Member Functions
	AffineFunction (const matrixIn_t &J, const std::string name="LinearFunction")

	AffineFunction (const matrixIn_t &J, const vectorIn_t &b, const std::string name="LinearFunction")

bool	isEqual (const DifferentiableFunction &other) 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.

	DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, const LiegroupSpacePtr_t &outputSpace, std::string name=std::string())
	Concrete class constructor should call this constructor.

	DifferentiableFunction ()

Additional Inherited Members
Public Member Functions inherited from hpp::constraints::DifferentiableFunction
virtual	~DifferentiableFunction ()

LiegroupElement	operator() (vectorIn_t argument) const

void	value (LiegroupElementRef result, vectorIn_t argument) const

void	jacobian (matrixOut_t jacobian, vectorIn_t argument) const

const ArrayXb &	activeParameters () const

const ArrayXb &	activeDerivativeParameters () const

size_type	inputSize () const
	Get dimension of input vector.

size_type	inputDerivativeSize () const

LiegroupSpacePtr_t	outputSpace () const
	Get output space.

size_type	outputSize () const
	Get dimension of output vector.

size_type	outputDerivativeSize () const
	Get dimension of output derivative vector.

const std::string &	name () const
	Get function name.

virtual std::ostream &	print (std::ostream &o) const
	Display object in a stream.

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

void	finiteDifferenceCentral (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const

bool	operator== (DifferentiableFunction const &other) const

bool	operator!= (DifferentiableFunction const &b) const

virtual std::pair< JointConstPtr_t, JointConstPtr_t >	dependsOnRelPoseBetween (DeviceConstPtr_t) const

Protected Attributes inherited from hpp::constraints::DifferentiableFunction
size_type	inputSize_
	Dimension of input vector.

size_type	inputDerivativeSize_
	Dimension of input derivative.

LiegroupSpacePtr_t	outputSpace_
	Dimension of output vector.

ArrayXb	activeParameters_

ArrayXb	activeDerivativeParameters_

Detailed Description

Affine function \( f(q) = J * q + b \)

Todo:: should we handle specifically this function is the solvers ?

Constructor & Destructor Documentation

◆ AffineFunction() [1/2]

hpp::constraints::AffineFunction::AffineFunction	(	const matrixIn_t &	J,
		const std::string	name = `"LinearFunction"`
	)

inlineprotected

◆ AffineFunction() [2/2]

hpp::constraints::AffineFunction::AffineFunction	(	const matrixIn_t &	J,
		const vectorIn_t &	b,
		const std::string	name = `"LinearFunction"`
	)

inlineprotected

Member Function Documentation

◆ create() [1/2]

static AffineFunctionPtr_t hpp::constraints::AffineFunction::create	(	const matrixIn_t &	J,
		const std::string	name = `"LinearFunction"`
	)

inlinestatic

◆ create() [2/2]

static AffineFunctionPtr_t hpp::constraints::AffineFunction::create	(	const matrixIn_t &	J,
		const vectorIn_t &	b,
		const std::string	name = `"LinearFunction"`
	)

inlinestatic

◆ isEqual()

bool hpp::constraints::AffineFunction::isEqual ( const DifferentiableFunction & other ) const

inlineprotectedvirtual

Reimplemented from hpp::constraints::DifferentiableFunction.

The documentation for this class was generated from the following file:

include/hpp/constraints/affine-function.hh

Static Public Member Functions

Protected Member Functions

Additional Inherited Members