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// Copyright (c) 2018, Joseph Mirabel |
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// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
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// |
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// Redistribution and use in source and binary forms, with or without |
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// modification, are permitted provided that the following conditions are |
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// met: |
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// |
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// 1. Redistributions of source code must retain the above copyright |
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// notice, this list of conditions and the following disclaimer. |
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// |
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// 2. Redistributions in binary form must reproduce the above copyright |
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// notice, this list of conditions and the following disclaimer in the |
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// documentation and/or other materials provided with the distribution. |
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// |
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
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// DAMAGE. |
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#include <hpp/constraints/function/difference.hh> |
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#include <hpp/constraints/matrix-view.hh> |
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namespace hpp { |
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namespace constraints { |
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namespace function { |
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namespace { |
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std::string toStr(const segment_t& s) { |
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std::ostringstream os; |
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os << pretty_print(s); |
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return os.str(); |
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} |
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} // namespace |
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Difference::Difference(const DifferentiableFunctionPtr_t& inner, |
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const size_type& nArgs, const size_type& nDers, |
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const segment_t& lInArgs, const segment_t& lInDers, |
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const segment_t& rInArgs, const segment_t& rInDers) |
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: DifferentiableFunction( |
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nArgs, nDers, LiegroupSpace::Rn(inner->outputSpace()->nv()), |
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inner->name() + " | " + toStr(lInArgs) + " - " + toStr(rInArgs)), |
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inner_(inner), |
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lsa_(lInArgs), |
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lsd_(lInDers), |
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rsa_(rInArgs), |
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rsd_(rInDers), |
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l_(inner->outputSpace()), |
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r_(inner->outputSpace()) { |
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activeParameters_.setConstant(false); |
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activeParameters_.segment(lsa_.first, lsa_.second) = |
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inner_->activeParameters(); |
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activeParameters_.segment(rsa_.first, rsa_.second) = |
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inner_->activeParameters(); |
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activeDerivativeParameters_.setConstant(false); |
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activeDerivativeParameters_.segment(lsd_.first, lsd_.second) = |
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inner_->activeDerivativeParameters(); |
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activeDerivativeParameters_.segment(rsd_.first, rsd_.second) = |
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inner_->activeDerivativeParameters(); |
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} |
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std::ostream& Difference::print(std::ostream& os) const { |
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constraints::DifferentiableFunction::print(os); |
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return os << incindent << iendl << *inner_ << decindent; |
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} |
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} // namespace function |
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} // namespace constraints |
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} // namespace hpp |
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