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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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#ifndef HPP_CONSTRAINTS_FUNCTION_OF_PARAMETER_SUBSET_HH |
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#define HPP_CONSTRAINTS_FUNCTION_OF_PARAMETER_SUBSET_HH |
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#include <hpp/constraints/differentiable-function.hh> |
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namespace hpp { |
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namespace constraints { |
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namespace function { |
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/// Function depending on a subset of parameters |
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/// |
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/// This class implements a function over a configuration space, |
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/// the output values of which only depend on a convex subset of |
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/// parameters. |
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/// |
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/// \f{equation} |
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/// f (q_1,\cdots,q_n) = g (q_{i},\cdots,q_{i+p-1}) |
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/// \f} |
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/// where |
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/// \li \f$n\f$ is the dimension of the input configuration space, |
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/// \li \f$[i,i+p-1]\f$ is an interval included in \f$[1,n]\f$, |
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/// \li \f$g\f$ is a differentiable mapping from \f$\mathbf{R}^p\f$ |
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/// to the output space of \f$f\f$. |
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class HPP_CONSTRAINTS_DLLAPI OfParameterSubset : public DifferentiableFunction { |
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public: |
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/// Create instance and return shared pointer |
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/// \param g the mapping from the subset of parameters to the |
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/// output space, |
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/// \param nArgs dimension \f$n\f$ of the input space representation, |
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/// \param nDers dimension of the input tangent space, |
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/// \param inArgs interval \f$[i,i+p-1]\f$ of configuration indices, |
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/// \param inDers interval of velocity indices. |
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static OfParameterSubsetPtr_t create(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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return OfParameterSubsetPtr_t( |
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new OfParameterSubset(g, nArgs, nDers, inArgs, inDers)); |
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} |
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protected: |
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/// Constructor |
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/// \param g the mapping from the subset of parameters to the |
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/// output space, |
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/// \param nArgs dimension \f$n\f$ of the input space representation, |
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/// \param nDers dimension of the input tangent space, |
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/// \param inArgs interval \f$[i,i+p-1]\f$ of configuration indices, |
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/// \param inDers interval of velocity indices. |
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OfParameterSubset(const DifferentiableFunctionPtr_t& g, |
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const size_type& nArgs, const size_type& nDers, |
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const segment_t& inArgs, const segment_t& inDers); |
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void impl_compute(LiegroupElementRef y, vectorIn_t arg) const { |
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g_->value(y, arg.segment(sa_.first, sa_.second)); |
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} |
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void impl_jacobian(matrixOut_t J, vectorIn_t arg) const { |
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g_->jacobian(J.middleCols(sd_.first, sd_.second), |
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arg.segment(sa_.first, sa_.second)); |
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} |
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bool isEqual(const DifferentiableFunction& other) const { |
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const OfParameterSubset& castother = |
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dynamic_cast<const OfParameterSubset&>(other); |
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if (!DifferentiableFunction::isEqual(other)) return false; |
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if (g_ != castother.g_) return false; |
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if (sa_ != castother.sa_) return false; |
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if (sd_ != castother.sd_) return false; |
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return true; |
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} |
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std::ostream& print(std::ostream& os) const; |
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DifferentiableFunctionPtr_t g_; |
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const segment_t sa_, sd_; |
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}; // class OfParameterSubset |
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} // namespace function |
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} // namespace constraints |
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} // namespace hpp |
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#endif // HPP_CONSTRAINTS_FUNCTION_OF_PARAMETER_SUBSET_HH |
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