hpp::constraints::DifferentiableFunctionSet Class Reference

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

Inheritance diagram for hpp::constraints::DifferentiableFunctionSet:

Collaboration diagram for hpp::constraints::DifferentiableFunctionSet:

Public Types
typedef std::vector< DifferentiableFunctionPtr_t >	Functions_t

Public Member Functions
virtual	~DifferentiableFunctionSet ()
std::ostream &	print (std::ostream &os) const
	Display object in a stream.
	DifferentiableFunctionSet (const std::string &name)
	DifferentiableFunctionSet ()
Function stack management
const Functions_t &	functions () const
	Get the stack of functions.
void	add (const DifferentiableFunctionPtr_t &func)
void	merge (const DifferentiableFunctionSetPtr_t &other)
	The output columns selection of other is not taken into account.
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.
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

Static Public Member Functions
static DifferentiableFunctionSetPtr_t	create (const std::string &name)

Protected Member Functions
void	impl_compute (LiegroupElementRef result, ConfigurationIn_t arg) const
void	impl_jacobian (matrixOut_t jacobian, ConfigurationIn_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.
	DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, const LiegroupSpacePtr_t &outputSpace, std::string name=std::string())
	Concrete class constructor should call this constructor.
virtual void	impl_compute (LiegroupElementRef result, vectorIn_t argument) const =0
	User implementation of function evaluation.
virtual void	impl_jacobian (matrixOut_t jacobian, vectorIn_t arg) const =0
	DifferentiableFunction ()

Additional Inherited Members
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

Set of differentiable functions

This class also handles selection of cols of the output matrix.

Member Typedef Documentation

Functions_t

typedef std::vector<DifferentiableFunctionPtr_t> hpp::constraints::DifferentiableFunctionSet::Functions_t

Constructor & Destructor Documentation

~DifferentiableFunctionSet()

virtual hpp::constraints::DifferentiableFunctionSet::~DifferentiableFunctionSet ( )

inlinevirtual

DifferentiableFunctionSet() [1/2]

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

inline

Constructor

Parameters

name	the name of the constraints,

DifferentiableFunctionSet() [2/2]

hpp::constraints::DifferentiableFunctionSet::DifferentiableFunctionSet ( )

inline

Member Function Documentation

add()

void hpp::constraints::DifferentiableFunctionSet::add ( const DifferentiableFunctionPtr_t &  func )

inline

create()

static DifferentiableFunctionSetPtr_t hpp::constraints::DifferentiableFunctionSet::create ( const std::string &  name )

inlinestatic

Return a shared pointer to a new instance

Parameters

name	the name of the constraints,

functions()

const Functions_t & hpp::constraints::DifferentiableFunctionSet::functions ( ) const

inline

Get the stack of functions.

impl_compute()

void hpp::constraints::DifferentiableFunctionSet::impl_compute ( LiegroupElementRef  result, ConfigurationIn_t  arg  ) const

inlineprotected

impl_jacobian()

void hpp::constraints::DifferentiableFunctionSet::impl_jacobian ( matrixOut_t  jacobian, ConfigurationIn_t  arg  ) const

inlineprotected

isEqual()

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

inlineprotectedvirtual

Reimplemented from hpp::constraints::DifferentiableFunction.

merge()

void hpp::constraints::DifferentiableFunctionSet::merge ( const DifferentiableFunctionSetPtr_t &  other )

inline

The output columns selection of other is not taken into account.

print()

std::ostream & hpp::constraints::DifferentiableFunctionSet::print ( std::ostream &  o ) const

virtual

Display object in a stream.

Reimplemented from hpp::constraints::DifferentiableFunction.

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

• include/hpp/constraints/differentiable-function-set.hh