of-parameter-subset.hh

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// Copyright (c) 2017 - 2018, CNRS
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr), Florent Lamiraux
//
 
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// modification, are permitted provided that the following conditions are
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#ifndef HPP_CONSTRAINTS_FUNCTION_OF_PARAMETER_SUBSET_HH
#define HPP_CONSTRAINTS_FUNCTION_OF_PARAMETER_SUBSET_HH
 
#include <hpp/constraints/differentiable-function.hh>
 
namespace hpp {
namespace constraints {
namespace function {
class HPP_CONSTRAINTS_DLLAPI OfParameterSubset : public DifferentiableFunction {
 public:
  static OfParameterSubsetPtr_t create(const DifferentiableFunctionPtr_t& g,
                                       const size_type& nArgs,
                                       const size_type& nDers,
                                       const segment_t& inArgs,
                                       const segment_t& inDers) {
    return OfParameterSubsetPtr_t(
        new OfParameterSubset(g, nArgs, nDers, inArgs, inDers));
  }
 
 protected:
  OfParameterSubset(const DifferentiableFunctionPtr_t& g,
                    const size_type& nArgs, const size_type& nDers,
                    const segment_t& inArgs, const segment_t& inDers);
 
  void impl_compute(LiegroupElementRef y, vectorIn_t arg) const {
    g_->value(y, arg.segment(sa_.first, sa_.second));
  }
 
  void impl_jacobian(matrixOut_t J, vectorIn_t arg) const {
    g_->jacobian(J.middleCols(sd_.first, sd_.second),
                 arg.segment(sa_.first, sa_.second));
  }
 
  bool isEqual(const DifferentiableFunction& other) const {
    const OfParameterSubset& castother =
        dynamic_cast<const OfParameterSubset&>(other);
    if (!DifferentiableFunction::isEqual(other)) return false;
 
    if (g_ != castother.g_) return false;
    if (sa_ != castother.sa_) return false;
    if (sd_ != castother.sd_) return false;
 
    return true;
  }
 
  std::ostream& print(std::ostream& os) const;
 
  DifferentiableFunctionPtr_t g_;
  const segment_t sa_, sd_;
};  // class OfParameterSubset
}  // namespace function
}  // namespace constraints
}  // namespace hpp
#endif  // HPP_CONSTRAINTS_FUNCTION_OF_PARAMETER_SUBSET_HH