hpp::constraints::ConstantFunction Struct Reference

#include <hpp/constraints/affine-function.hh>

Inheritance diagram for hpp::constraints::ConstantFunction:

Collaboration diagram for hpp::constraints::ConstantFunction:

Static Public Member Functions
static ConstantFunctionPtr_t	create (const vector_t &constant, const size_type &sizeIn, const size_type &sizeInDer, const std::string name="ConstantFunction")
static ConstantFunctionPtr_t	create (const LiegroupElement &element, const size_type &sizeIn, const size_type &sizeInDer, const std::string name="ConstantFunction")

Protected Member Functions
	ConstantFunction (const vector_t &constant, const size_type &sizeIn, const size_type &sizeInDer, const std::string name="ConstantFunction")
	ConstantFunction (const LiegroupElement &element, const size_type &sizeIn, const size_type &sizeInDer, const std::string name="ConstantFunction")
void	impl_compute (LiegroupElementRef r, vectorIn_t) const
	User implementation of function evaluation.
void	impl_jacobian (matrixOut_t J, vectorIn_t) 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.
	DifferentiableFunction ()

Protected Attributes
const LiegroupElement	c_
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_

Additional Inherited Members
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
virtual std::pair< JointConstPtr_t, JointConstPtr_t >	dependsOnRelPoseBetween (DeviceConstPtr_t) const

Detailed Description

Constant function \( f(q) = C \)

Todo:

should we handle specifically this function is the solvers ?

Constructor & Destructor Documentation

ConstantFunction() [1/2]

hpp::constraints::ConstantFunction::ConstantFunction ( const vector_t &  constant, const size_type &  sizeIn, const size_type &  sizeInDer, const std::string  name = "ConstantFunction"  )

inlineprotected

ConstantFunction() [2/2]

hpp::constraints::ConstantFunction::ConstantFunction ( const LiegroupElement &  element, const size_type &  sizeIn, const size_type &  sizeInDer, const std::string  name = "ConstantFunction"  )

inlineprotected

Member Function Documentation

create() [1/2]

static ConstantFunctionPtr_t hpp::constraints::ConstantFunction::create ( const LiegroupElement &  element, const size_type &  sizeIn, const size_type &  sizeInDer, const std::string  name = "ConstantFunction"  )

inlinestatic

create() [2/2]

static ConstantFunctionPtr_t hpp::constraints::ConstantFunction::create ( const vector_t &  constant, const size_type &  sizeIn, const size_type &  sizeInDer, const std::string  name = "ConstantFunction"  )

inlinestatic

impl_compute()

void hpp::constraints::ConstantFunction::impl_compute ( LiegroupElementRef  r, vectorIn_t    ) const

inlineprotectedvirtual

User implementation of function evaluation.

Implements hpp::constraints::DifferentiableFunction.

impl_jacobian()

void hpp::constraints::ConstantFunction::impl_jacobian ( matrixOut_t  J, vectorIn_t    ) const

inlineprotectedvirtual

Implements hpp::constraints::DifferentiableFunction.

isEqual()

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

inlineprotectedvirtual

Reimplemented from hpp::constraints::DifferentiableFunction.

Member Data Documentation

c_

const LiegroupElement hpp::constraints::ConstantFunction::c_

protected

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

• include/hpp/constraints/affine-function.hh