#include <hpp/constraints/convex-shape-contact.hh>

Inheritance diagram for hpp::constraints::ConvexShapeContactHold:

Collaboration diagram for hpp::constraints::ConvexShapeContactHold:

Public Member Functions
ConvexShapeContactPtr_t	contactConstraint () const

ConvexShapeContactComplementPtr_t	complement () const

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

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. More...

size_type	inputDerivativeSize () const

LiegroupSpacePtr_t	outputSpace () const
	Get output space. 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

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

Static Public Member Functions
static ConvexShapeContactHoldPtr_t	create (const std::string &name, DevicePtr_t robot, const JointAndShapes_t &floorSurfaces, const JointAndShapes_t &objectSurfaces)

Protected Member Functions
	ConvexShapeContactHold (const std::string &name, DevicePtr_t robot, const JointAndShapes_t &floorSurfaces, const JointAndShapes_t &objectSurfaces)

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

virtual void	impl_jacobian (matrixOut_t jacobian, vectorIn_t arg) const

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. 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...

	DifferentiableFunction ()

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_

ArrayXb	activeDerivativeParameters_

Detailed Description

Combination of ConvexShapeContact and complement constaints

Create one instance of

and concatenate their values.

Constructor & Destructor Documentation

◆ ConvexShapeContactHold()

hpp::constraints::ConvexShapeContactHold::ConvexShapeContactHold	(	const std::string &	name,
		DevicePtr_t	robot,
		const JointAndShapes_t &	floorSurfaces,
		const JointAndShapes_t &	objectSurfaces
	)

protected

Constructor

Parameters

constraintName	name of the ConvexShapeContact instance,
complementName	name of the ConvexShapeContactComplement instance,
holdName	name of this DifferentiableFunction instance
robot	the input space of the function is the robot configuration space.

Member Function Documentation

◆ complement()

ConvexShapeContactComplementPtr_t hpp::constraints::ConvexShapeContactHold::complement ( ) const

inline

◆ contactConstraint()

ConvexShapeContactPtr_t hpp::constraints::ConvexShapeContactHold::contactConstraint ( ) const

inline

◆ create()

static ConvexShapeContactHoldPtr_t hpp::constraints::ConvexShapeContactHold::create	(	const std::string &	name,
		DevicePtr_t	robot,
		const JointAndShapes_t &	floorSurfaces,
		const JointAndShapes_t &	objectSurfaces
	)

static

Create instance and return shared pointer

Parameters

constraintName	name of the ConvexShapeContact instance,
complementName	name of the ConvexShapeContactComplement instance,
holdName	name of this DifferentiableFunction instance
robot	the input space of the function is the robot configuration space.

◆ dependsOnRelPoseBetween()

std::pair<JointConstPtr_t, JointConstPtr_t> hpp::constraints::ConvexShapeContactHold::dependsOnRelPoseBetween ( DeviceConstPtr_t ) const

inlinevirtual

Return pair of joints the relative pose between which modifies the function value if any

Currently only supports the case when all the joints for floors are the same and all the joints for objects involved are the same

Returns: pair of joints whose relative pose determines the value of the contact function, arranged in order of increasing joint index, or a pair of empty shared pointers.

Reimplemented from hpp::constraints::DifferentiableFunction.

◆ impl_compute()

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

protectedvirtual

User implementation of function evaluation.

Implements hpp::constraints::DifferentiableFunction.

◆ impl_jacobian()

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

protectedvirtual

Implements hpp::constraints::DifferentiableFunction.

◆ isEqual()

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

protectedvirtual

Reimplemented from hpp::constraints::DifferentiableFunction.

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

include/hpp/constraints/convex-shape-contact.hh

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ConvexShapeContactHold()

Member Function Documentation

◆ complement()

◆ contactConstraint()

◆ create()

◆ dependsOnRelPoseBetween()

◆ impl_compute()

◆ impl_jacobian()

◆ isEqual()