hpp::constraints::function::Difference Class Reference

#include <hpp/constraints/function/difference.hh>

Inheritance diagram for hpp::constraints::function::Difference:

Collaboration diagram for hpp::constraints::function::Difference:

Public Types
typedef shared_ptr< Difference >	Ptr_t

Public Member Functions
	Difference (const DifferentiableFunctionPtr_t &inner, const size_type &nArgs, const size_type &nDers, const segment_t &lInArgs, const segment_t &lInDers, const segment_t &rInArgs, const segment_t &rInDers)
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

Protected Member Functions
void	impl_compute (LiegroupElementRef y, vectorIn_t arg) const
	User implementation of function evaluation.
void	impl_jacobian (matrixOut_t J, vectorIn_t arg) const
bool	isEqual (const DifferentiableFunction &other) const
std::ostream &	print (std::ostream &os) const
	Display object in a stream.
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 ()

Protected Attributes
DifferentiableFunctionPtr_t	inner_
const segment_t	lsa_
const segment_t	lsd_
const segment_t	rsa_
const segment_t	rsd_
LiegroupElement	l_
LiegroupElement	r_
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

Compute the difference between the value of the function in two points. i.e.: \( f (q_0, ... , q_n) = f_{inner} (q_{left}) - f_{inner} (q_{right}) \)

Member Typedef Documentation

Ptr_t

typedef shared_ptr<Difference> hpp::constraints::function::Difference::Ptr_t

Constructor & Destructor Documentation

Difference()

hpp::constraints::function::Difference::Difference	(	const DifferentiableFunctionPtr_t &	inner,
		const size_type &	nArgs,
		const size_type &	nDers,
		const segment_t &	lInArgs,
		const segment_t &	lInDers,
		const segment_t &	rInArgs,
		const segment_t &	rInDers
	)

Constructor

Parameters

inner	function f,
nArgs,nDers	size of the input space of this function,
lInArgs,lInders	configuration and velocity intervals defining \(q_{left}\),
rInArgs,rInders	configuration and velocity intervals defining \(q_{right}\),

Member Function Documentation

impl_compute()

void hpp::constraints::function::Difference::impl_compute ( LiegroupElementRef  result, vectorIn_t  argument  ) const

inlineprotectedvirtual

User implementation of function evaluation.

Implements hpp::constraints::DifferentiableFunction.

impl_jacobian()

void hpp::constraints::function::Difference::impl_jacobian ( matrixOut_t  J, vectorIn_t  arg  ) const

inlineprotectedvirtual

Implements hpp::constraints::DifferentiableFunction.

isEqual()

bool hpp::constraints::function::Difference::isEqual ( const DifferentiableFunction &  other ) const

inlineprotectedvirtual

Reimplemented from hpp::constraints::DifferentiableFunction.

print()

std::ostream & hpp::constraints::function::Difference::print ( std::ostream &  o ) const

protectedvirtual

Display object in a stream.

Reimplemented from hpp::constraints::DifferentiableFunction.

Member Data Documentation

inner_

DifferentiableFunctionPtr_t hpp::constraints::function::Difference::inner_

protected

l_

LiegroupElement hpp::constraints::function::Difference::l_

mutableprotected

lsa_

const segment_t hpp::constraints::function::Difference::lsa_

protected

lsd_

const segment_t hpp::constraints::function::Difference::lsd_

protected

r_

LiegroupElement hpp::constraints::function::Difference::r_

protected

rsa_

const segment_t hpp::constraints::function::Difference::rsa_

protected

rsd_

const segment_t hpp::constraints::function::Difference::rsd_

protected

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

• include/hpp/constraints/function/difference.hh