hpp::constraints::solver::saturation::Function Struct Reference

saturation from a std::function. More...

#include <hpp/constraints/solver/hierarchical-iterative.hh>

Inheritance diagram for hpp::constraints::solver::saturation::Function:

Collaboration diagram for hpp::constraints::solver::saturation::Function:

Public Types
typedef std::function< bool(vectorIn_t, vectorOut_t, Eigen::VectorXi &)>	function_t

Public Member Functions
bool	saturate (vectorIn_t q, vectorOut_t qSat, Eigen::VectorXi &saturation)
	Function ()
	Function (const function_t &function)
Public Member Functions inherited from hpp::constraints::solver::saturation::Base
virtual	~Base ()

Public Attributes
function_t	function

Detailed Description

saturation from a std::function.

Member Typedef Documentation

function_t

typedef std::function<bool(vectorIn_t, vectorOut_t, Eigen::VectorXi&)> hpp::constraints::solver::saturation::Function::function_t

Constructor & Destructor Documentation

Function() [1/2]

hpp::constraints::solver::saturation::Function::Function ( )

inline

Function() [2/2]

hpp::constraints::solver::saturation::Function::Function ( const function_t &  function )

inline

Member Function Documentation

saturate()

bool hpp::constraints::solver::saturation::Function::saturate ( vectorIn_t  q, vectorOut_t  qSat, Eigen::VectorXi &  saturation  )

inlinevirtual

This function checks which degrees of freedom are saturated.

Parameters

q	a configuration,

Return values

qSat	configuration after saturing values out of bounds
saturation	vector: for each degree of freedom, saturation is set to -1 if the lower bound is reached, 1 if the upper bound is reached, 0 otherwise.

Returns

true if and only if at least one degree of freedom has been saturated

Reimplemented from hpp::constraints::solver::saturation::Base.

Member Data Documentation

function

function_t hpp::constraints::solver::saturation::Function::function

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

• include/hpp/constraints/solver/hierarchical-iterative.hh