explicit.hh

Go to the documentation of this file.

// Copyright (c) 2015, LAAS-CNRS
// Authors: Florent Lamiraux
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
// DAMAGE.
 
#ifndef HPP_CONSTRAINTS_EXPLICIT_HH
#define HPP_CONSTRAINTS_EXPLICIT_HH
 
#include <exception>
#include <hpp/constraints/implicit.hh>
 
namespace hpp {
namespace constraints {
 
class FunctionNotDefinedForThisValue : public std::exception {};
 
class HPP_CONSTRAINTS_DLLAPI Explicit : public Implicit {
 public:
  virtual ImplicitPtr_t copy() const;
 
  static ExplicitPtr_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,
      const ComparisonTypes_t& comp = ComparisonTypes_t(),
      std::vector<bool> mask = std::vector<bool>());
 
  static ExplicitPtr_t createCopy(const ExplicitPtr_t& other);
 
  DifferentiableFunctionPtr_t explicitFunction() const {
    return inputToOutput_;
  }
 
  const segments_t& outputConf() const { return outputConf_; }
  const segments_t& outputVelocity() const { return outputVelocity_; }
  const segments_t& inputConf() const { return inputConf_; }
  const segments_t& inputVelocity() const { return inputVelocity_; }
  virtual void outputValue(LiegroupElementRef result, vectorIn_t qin,
                           LiegroupElementConstRef rhs) const;
 
  virtual void jacobianOutputValue(vectorIn_t qin,
                                   LiegroupElementConstRef g_value,
                                   LiegroupElementConstRef rhs,
                                   matrixOut_t jacobian) const;
 
 protected:
  Explicit(const LiegroupSpacePtr_t& configSpace,
           const DifferentiableFunctionPtr_t& function,
           const segments_t& inputConf, const segments_t& outputConf,
           const segments_t& inputVelocity, const segments_t& outputVelocity,
           const ComparisonTypes_t& comp, std::vector<bool> mask);
 
  Explicit(const DifferentiableFunctionPtr_t& implicitFunction,
           const DifferentiableFunctionPtr_t& function,
           const segments_t& inputConf, const segments_t& outputConf,
           const segments_t& inputVelocity, const segments_t& outputVelocity,
           const ComparisonTypes_t& comp, std::vector<bool> mask);
 
  Explicit(const Explicit& other);
 
  bool isEqual(const Implicit& other, bool swapAndTest) const;
 
  // Store weak pointer to itself
  void init(const ExplicitWkPtr_t& weak);
 
 protected:
  // Relation between input and output configuration variables
  DifferentiableFunctionPtr_t inputToOutput_;
  segments_t inputConf_;
  segments_t outputConf_;
  segments_t inputVelocity_;
  segments_t outputVelocity_;
 
  Explicit() {}
 
 private:
  ExplicitWkPtr_t weak_;
 
  HPP_SERIALIZABLE();
};  // class Explicit
}  // namespace constraints
}  // namespace hpp
 
BOOST_CLASS_EXPORT_KEY(hpp::constraints::Explicit)
 
#endif  // HPP_CONSTRAINTS_EXPLICIT_HH