#include <hpp/constraints/explicit/implicit-function.hh>

Inheritance diagram for hpp::constraints::explicit_::ImplicitFunction:

Collaboration diagram for hpp::constraints::explicit_::ImplicitFunction:

Public Types
typedef shared_ptr< ImplicitFunction >	Ptr_t

Public Member Functions
const DifferentiableFunctionPtr_t &	inputToOutput () const
	Get function f that maps input variables to output variables.

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

Static Public Member Functions
static Ptr_t	create (const LiegroupSpacePtr_t &configSpace, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity)

Protected Member Functions
	ImplicitFunction (const LiegroupSpacePtr_t &configSpace, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity)

void	impl_compute (LiegroupElementRef result, vectorIn_t argument) const
	Compute g (q_out) - f (q_in)

void	impl_jacobian (matrixOut_t jacobian, vectorIn_t arg) const
	Compute Jacobian of g (q_out) - f (q_in) with respect to q.

bool	isEqual (const DifferentiableFunction &other) const

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

Function of the form q -> g (q_out) - f (q_in)

where

q_out is a vector composed of configuration variables of q,
q_in is the vector composed of other configuration variables of q,
f, g are differentiable functions with values in a Lie group.

This class is mainly used to create hpp::constraints::Explicit instances.

Member Typedef Documentation

◆ Ptr_t

typedef shared_ptr<ImplicitFunction> hpp::constraints::explicit_::ImplicitFunction::Ptr_t

Constructor & Destructor Documentation

◆ ImplicitFunction()

hpp::constraints::explicit_::ImplicitFunction::ImplicitFunction	(	const LiegroupSpacePtr_t &	configSpace,
		const DifferentiableFunctionPtr_t &	function,
		const segments_t &	inputConf,
		const segments_t &	outputConf,
		const segments_t &	inputVelocity,
		const segments_t &	outputVelocity
	)

protected

Constructor

Parameters

configSpace	input space of this function - usually a robot configuration space,
function	function f,
inputConf	set of indices defining q_in,
inputVelocity	set of indices defining q_in derivative,
outputConf	set of indices defining q_out
outputVelocity	set of indices defining q_out derivative

Member Function Documentation

◆ create()

static Ptr_t hpp::constraints::explicit_::ImplicitFunction::create	(	const LiegroupSpacePtr_t &	configSpace,
		const DifferentiableFunctionPtr_t &	function,
		const segments_t &	inputConf,
		const segments_t &	outputConf,
		const segments_t &	inputVelocity,
		const segments_t &	outputVelocity
	)

static

create instance and return shared pointer

Parameters

configSpace	input space of this function - usually a robot configuration space,
function	function f,
inputConf	set of indices defining q_in,
inputVelocity	set of indices defining q_in derivative,
outputConf	set of indices defining q_out
outputVelocity	set of indices defining q_out derivative

◆ dependsOnRelPoseBetween()

std::pair< JointConstPtr_t, JointConstPtr_t > hpp::constraints::explicit_::ImplicitFunction::dependsOnRelPoseBetween ( DeviceConstPtr_t robot ) const

protectedvirtual

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

Currently checks if the implicit function specifies a joint where

q_out is a vector corresponding to only 1 joint
q_in is an empty vector (since f is constant and specifies the whole or part of the pose of the joint)

Parameters

robot the robot the constraints are applied on,

Returns: pair of pointers to the lock joint and its parent joint, arranged in order of increasing joint index, or a pair of empty shared pointers if the implicit function does not specify a locked joint.

Reimplemented from hpp::constraints::DifferentiableFunction.

◆ impl_compute()

void hpp::constraints::explicit_::ImplicitFunction::impl_compute	(	LiegroupElementRef	result,
		vectorIn_t	argument
	)		const

protectedvirtual

Compute g (q_out) - f (q_in)

Implements hpp::constraints::DifferentiableFunction.

◆ impl_jacobian()

void hpp::constraints::explicit_::ImplicitFunction::impl_jacobian	(	matrixOut_t	jacobian,
		vectorIn_t	arg
	)		const

protectedvirtual

Compute Jacobian of g (q_out) - f (q_in) with respect to q.

Implements hpp::constraints::DifferentiableFunction.

◆ inputToOutput()

const DifferentiableFunctionPtr_t & hpp::constraints::explicit_::ImplicitFunction::inputToOutput ( ) const

Get function f that maps input variables to output variables.

◆ isEqual()

bool hpp::constraints::explicit_::ImplicitFunction::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/explicit/implicit-function.hh

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Ptr_t

Constructor & Destructor Documentation

◆ ImplicitFunction()

Member Function Documentation

◆ create()

◆ dependsOnRelPoseBetween()

◆ impl_compute()

◆ impl_jacobian()

◆ inputToOutput()

◆ isEqual()