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

Inheritance diagram for hpp::constraints::DifferentiableFunction:

[legend]

Public Member Functions
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

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

Protected Member Functions
	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

virtual bool	isEqual (const DifferentiableFunction &other) const

	DifferentiableFunction ()

Protected Attributes
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_

Friends
class	DifferentiableFunctionSet

Detailed Description

Differentiable function from a Lie group, for instance the configuration space of a robot (hpp::pinocchio::Device) to a another Lie group.

Note that the input Lie group is only represented by the sizes of the elements and of the velocities: methods inputSize and inputDerivativeSize

The output space can be accessed by method outputSpace.

The value of the function for a given input can be accessed by method value . The Jacobian of the function for a given input can be accessed by method jacobian .

Constructor & Destructor Documentation

◆ ~DifferentiableFunction()

virtual hpp::constraints::DifferentiableFunction::~DifferentiableFunction ( )

inlinevirtual

◆ DifferentiableFunction() [1/3]

hpp::constraints::DifferentiableFunction::DifferentiableFunction	(	size_type	sizeInput,
		size_type	sizeInputDerivative,
		size_type	sizeOutput,
		std::string	name = `std::string()`
	)

protected

Concrete class constructor should call this constructor.

Parameters

sizeInput	dimension of the function input
sizeInputDerivative	dimension of the function input derivative,
sizeOutput	dimension of the output,
name	function's name

◆ DifferentiableFunction() [2/3]

hpp::constraints::DifferentiableFunction::DifferentiableFunction	(	size_type	sizeInput,
		size_type	sizeInputDerivative,
		const LiegroupSpacePtr_t &	outputSpace,
		std::string	name = `std::string()`
	)

protected

Concrete class constructor should call this constructor.

Parameters

sizeInput	dimension of the function input
sizeInputDerivative	dimension of the function input derivative,
outputSpace	output space of the function.
name	function name

◆ DifferentiableFunction() [3/3]

hpp::constraints::DifferentiableFunction::DifferentiableFunction ( )

inlineprotected

Member Function Documentation

◆ activeDerivativeParameters()

const ArrayXb& hpp::constraints::DifferentiableFunction::activeDerivativeParameters ( ) const

inline

Returns a vector of booleans that indicates whether the corresponding velocity parameter influences this constraints.

◆ activeParameters()

const ArrayXb& hpp::constraints::DifferentiableFunction::activeParameters ( ) const

inline

Returns a vector of booleans that indicates whether the corresponding configuration parameter influences this constraints.

◆ context() [1/2]

std::string hpp::constraints::DifferentiableFunction::context ( ) const

inline

◆ context() [2/2]

void hpp::constraints::DifferentiableFunction::context ( const std::string & c )

inline

◆ dependsOnRelPoseBetween()

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

inlinevirtual

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

This method is useful to know whether an instance of Implicit constrains the relative pose between two joints.

Returns: the pair of joints involved, arranged in order of increasing joint index, or a pair of empty shared pointers.

Note

if absolute pose (relative pose with respect to "universe"), "universe" is returned as empty shared pointer
child class reimplementing this may require a valid "robot" argument, which the constraints are applied on.

Reimplemented in hpp::constraints::GenericTransformation< _Options >, hpp::constraints::explicit_::RelativeTransformation, hpp::constraints::ConvexShapeContactHold, hpp::constraints::ConvexShapeContactComplement, hpp::constraints::ConvexShapeContact, and hpp::constraints::explicit_::ImplicitFunction.

◆ finiteDifferenceCentral()

void hpp::constraints::DifferentiableFunction::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.

Return values

jacobian jacobian will be stored in this argument

Parameters

arg	point at which the jacobian will be computed
robot	use to add configuration and velocities. If set to NULL, the configuration space is considered a vector space.
eps	refers to \(\epsilon\) in http://en.wikipedia.org/wiki/Numerical_differentiation Evaluate the function 2*x.size() times but more precise the finiteDifferenceForward

◆ finiteDifferenceForward()

void hpp::constraints::DifferentiableFunction::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.

Return values

jacobian jacobian will be stored in this argument

Parameters

arg	point at which the jacobian will be computed
robot	use to add configuration and velocities. If set to NULL, the configuration space is considered a vector space.
eps	refers to \(\epsilon\) in http://en.wikipedia.org/wiki/Numerical_differentiation Evaluate the function (x.size() + 1) times but less precise the finiteDifferenceCentral

◆ impl_compute()

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

protectedpure virtual

User implementation of function evaluation.

Implemented in hpp::constraints::function::OfParameterSubset, hpp::constraints::function::Difference, hpp::constraints::Identity, hpp::constraints::Manipulability, hpp::constraints::explicit_::RelativeTransformation, hpp::constraints::explicit_::ImplicitFunction, hpp::constraints::ConvexShapeContactHold, hpp::constraints::ActiveSetDifferentiableFunction, and hpp::constraints::ConstantFunction.

◆ impl_jacobian()

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

protectedpure virtual

Implemented in hpp::constraints::Manipulability, hpp::constraints::explicit_::RelativeTransformation, hpp::constraints::explicit_::ImplicitFunction, hpp::constraints::ConvexShapeContactHold, hpp::constraints::ActiveSetDifferentiableFunction, hpp::constraints::ConstantFunction, hpp::constraints::Identity, hpp::constraints::function::OfParameterSubset, and hpp::constraints::function::Difference.

◆ inputDerivativeSize()

size_type hpp::constraints::DifferentiableFunction::inputDerivativeSize ( ) const

inline

Get dimension of input derivative vector

The dimension of configuration vectors might differ from the dimension of velocity vectors since some joints are represented by non minimal size vectors: e.g. quaternion for SO(3)

◆ inputSize()

size_type hpp::constraints::DifferentiableFunction::inputSize ( ) const

inline

Get dimension of input vector.

◆ isEqual()

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

inlineprotectedvirtual

◆ jacobian()

void hpp::constraints::DifferentiableFunction::jacobian	(	matrixOut_t	jacobian,
		vectorIn_t	argument
	)		const

inline

Computes the jacobian.

Return values

jacobian jacobian will be stored in this argument

Parameters

argument point at which the jacobian will be computed

◆ name()

const std::string& hpp::constraints::DifferentiableFunction::name ( ) const

inline

Get function name.

Returns: Function name.

◆ operator!=()

bool hpp::constraints::DifferentiableFunction::operator!= ( DifferentiableFunction const & b ) const

◆ operator()()

LiegroupElement hpp::constraints::DifferentiableFunction::operator() ( vectorIn_t argument ) const

inline

Evaluate the function at a given parameter.

Note: parameters should be of the correct size.

◆ operator==()

bool hpp::constraints::DifferentiableFunction::operator== ( DifferentiableFunction const & other ) const

◆ outputDerivativeSize()

size_type hpp::constraints::DifferentiableFunction::outputDerivativeSize ( ) const

inline

Get dimension of output derivative vector.

◆ outputSize()

size_type hpp::constraints::DifferentiableFunction::outputSize ( ) const

inline

Get dimension of output vector.

◆ outputSpace()

LiegroupSpacePtr_t hpp::constraints::DifferentiableFunction::outputSpace ( ) const

inline

Get output space.

◆ print()

virtual std::ostream& hpp::constraints::DifferentiableFunction::print ( std::ostream & o ) const

virtual

Display object in a stream.

Reimplemented in hpp::constraints::function::OfParameterSubset, hpp::constraints::function::Difference, hpp::constraints::DifferentiableFunctionSet, hpp::constraints::RelativeCom, hpp::constraints::GenericTransformation< _Options >, hpp::constraints::ConvexShapeContact, and hpp::constraints::ConfigurationConstraint.

◆ value()

void hpp::constraints::DifferentiableFunction::value	(	LiegroupElementRef	result,
		vectorIn_t	argument
	)		const

inline

Evaluate the function at a given parameter.

Note: parameters should be of the correct size.

Friends And Related Function Documentation

◆ DifferentiableFunctionSet

friend class DifferentiableFunctionSet

friend

Member Data Documentation

◆ activeDerivativeParameters_

ArrayXb hpp::constraints::DifferentiableFunction::activeDerivativeParameters_

protected

Initialized to true by this class. Child class are responsible for updating it.

See also: activeDerivativeParameters

◆ activeParameters_

ArrayXb hpp::constraints::DifferentiableFunction::activeParameters_

protected

Initialized to true by this class. Child class are responsible for updating it.

See also: activeParameters

◆ inputDerivativeSize_

size_type hpp::constraints::DifferentiableFunction::inputDerivativeSize_

protected

Dimension of input derivative.

◆ inputSize_

size_type hpp::constraints::DifferentiableFunction::inputSize_

protected

Dimension of input vector.

◆ outputSpace_

LiegroupSpacePtr_t hpp::constraints::DifferentiableFunction::outputSpace_

protected

Dimension of output vector.

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

include/hpp/constraints/differentiable-function.hh

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ ~DifferentiableFunction()

◆ DifferentiableFunction() [1/3]

◆ DifferentiableFunction() [2/3]

◆ DifferentiableFunction() [3/3]

Member Function Documentation

◆ activeDerivativeParameters()

◆ activeParameters()

◆ context() [1/2]

◆ context() [2/2]

◆ dependsOnRelPoseBetween()

◆ finiteDifferenceCentral()

◆ finiteDifferenceForward()

◆ impl_compute()

◆ impl_jacobian()

◆ inputDerivativeSize()

◆ inputSize()

◆ isEqual()

◆ jacobian()

◆ name()

◆ operator!=()

◆ operator()()

◆ operator==()

◆ outputDerivativeSize()

◆ outputSize()

◆ outputSpace()

◆ print()

◆ value()

Friends And Related Function Documentation

◆ DifferentiableFunctionSet

Member Data Documentation

◆ activeDerivativeParameters_

◆ activeParameters_

◆ inputDerivativeSize_

◆ inputSize_

◆ outputSpace_