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// Copyright (c) 2017 - 2018, CNRS |
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// Authors: Joseph Mirabel (joseph.mirabel@laas.fr), Florent Lamiraux |
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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/of-parameter-subset.hh> |
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#include <hpp/util/indent.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 << "[ " << s.first << ", " << s.first + s.second << " ]"; |
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return os.str(); |
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} |
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} // namespace |
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OfParameterSubset::OfParameterSubset(const DifferentiableFunctionPtr_t& g, |
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const size_type& nArgs, |
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const size_type& nDers, |
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const segment_t& inArgs, |
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const segment_t& inDers) |
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: DifferentiableFunction(nArgs, nDers, g->outputSpace(), |
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g->name() + " | " + toStr(inArgs)), |
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g_(g), |
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sa_(inArgs), |
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sd_(inDers) { |
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activeParameters_.setConstant(false); |
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activeParameters_.segment(sa_.first, sa_.second) = g_->activeParameters(); |
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activeDerivativeParameters_.setConstant(false); |
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activeDerivativeParameters_.segment(sd_.first, sd_.second) = |
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g_->activeDerivativeParameters(); |
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} |
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std::ostream& OfParameterSubset::print(std::ostream& os) const { |
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constraints::DifferentiableFunction::print(os); |
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return os << incindent << iendl << *g_ << 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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