explicit.hh

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// Copyright (c) 2015, LAAS-CNRS
// Authors: Florent Lamiraux
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// DAMAGE.
 
#ifndef HPP_CONSTRAINTS_EXPLICIT_HH
#define HPP_CONSTRAINTS_EXPLICIT_HH
 
#include <hpp/constraints/implicit.hh>
 
namespace hpp {
namespace constraints {
 
class HPP_CONSTRAINTS_DLLAPI Explicit : public Implicit {
 public:
  virtual ImplicitPtr_t copy() const;
 
  static ExplicitPtr_t create(
      const LiegroupSpacePtr_t& configSpace,
      const DifferentiableFunctionPtr_t& function, const segments_t& inputConf,
      const segments_t& outputConf, const segments_t& inputVelocity,
      const segments_t& outputVelocity,
      const ComparisonTypes_t& comp = ComparisonTypes_t(),
      std::vector<bool> mask = std::vector<bool>());
 
  static ExplicitPtr_t createCopy(const ExplicitPtr_t& other);
 
  DifferentiableFunctionPtr_t explicitFunction() const {
    return inputToOutput_;
  }
 
  const segments_t& outputConf() const { return outputConf_; }
  const segments_t& outputVelocity() const { return outputVelocity_; }
  const segments_t& inputConf() const { return inputConf_; }
  const segments_t& inputVelocity() const { return inputVelocity_; }
  virtual void outputValue(LiegroupElementRef result, vectorIn_t qin,
                           LiegroupElementConstRef rhs) const;
 
  virtual void jacobianOutputValue(vectorIn_t qin,
                                   LiegroupElementConstRef g_value,
                                   LiegroupElementConstRef rhs,
                                   matrixOut_t jacobian) const;
 
 protected:
  Explicit(const LiegroupSpacePtr_t& configSpace,
           const DifferentiableFunctionPtr_t& function,
           const segments_t& inputConf, const segments_t& outputConf,
           const segments_t& inputVelocity, const segments_t& outputVelocity,
           const ComparisonTypes_t& comp, std::vector<bool> mask);
 
  Explicit(const DifferentiableFunctionPtr_t& implicitFunction,
           const DifferentiableFunctionPtr_t& function,
           const segments_t& inputConf, const segments_t& outputConf,
           const segments_t& inputVelocity, const segments_t& outputVelocity,
           const ComparisonTypes_t& comp, std::vector<bool> mask);
 
  Explicit(const Explicit& other);
 
  bool isEqual(const Implicit& other, bool swapAndTest) const;
 
  // Store weak pointer to itself
  void init(const ExplicitWkPtr_t& weak);
 
 protected:
  // Relation between input and output configuration variables
  DifferentiableFunctionPtr_t inputToOutput_;
  segments_t inputConf_;
  segments_t outputConf_;
  segments_t inputVelocity_;
  segments_t outputVelocity_;
 
  Explicit() {}
 
 private:
  ExplicitWkPtr_t weak_;
 
  HPP_SERIALIZABLE();
};  // class Explicit
}  // namespace constraints
}  // namespace hpp
 
BOOST_CLASS_EXPORT_KEY(hpp::constraints::Explicit)
 
#endif  // HPP_CONSTRAINTS_EXPLICIT_HH