Handle bounds on input variables of a differentiable function. More...

#include <hpp/constraints/active-set-differentiable-function.hh>

Inheritance diagram for hpp::constraints::ActiveSetDifferentiableFunction:

Collaboration diagram for hpp::constraints::ActiveSetDifferentiableFunction:

Public Member Functions
	ActiveSetDifferentiableFunction (const DifferentiableFunctionPtr_t &f, segments_t intervals)
	Constructor. More...

const DifferentiableFunction &	function () const
	Get the original function. More...

const DifferentiableFunctionPtr_t &	functionPtr () const
	Get the original function. More...

Public Member Functions inherited from hpp::constraints::DifferentiableFunction
virtual	~DifferentiableFunction ()

LiegroupElement	operator() (vectorIn_t argument) const
	Evaluate the function at a given parameter. More...

void	value (LiegroupElementRef result, vectorIn_t argument) const
	Evaluate the function at a given parameter. More...

void	jacobian (matrixOut_t jacobian, vectorIn_t argument) const
	Computes the jacobian. More...

const ArrayXb &	activeParameters () const
	Returns a vector of booleans that indicates whether the corresponding configuration parameter influences this constraints. More...

const ArrayXb &	activeDerivativeParameters () const
	Returns a vector of booleans that indicates whether the corresponding velocity parameter influences this constraints. More...

size_type	inputSize () const
	Get dimension of input vector. More...

size_type	inputDerivativeSize () const
	Get dimension of input derivative vector. More...

LiegroupSpacePtr_t	outputSpace () const
	Get output element. More...

size_type	outputSize () const
	Get dimension of output vector. More...

size_type	outputDerivativeSize () const
	Get dimension of output derivative vector. More...

const std::string &	name () const
	Get function name. More...

virtual std::ostream &	print (std::ostream &o) const
	Display object in a stream. More...

std::string	context () const

void	context (const std::string &c)

void	finiteDifferenceForward (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const
	Approximate the jacobian using forward finite difference. More...

void	finiteDifferenceCentral (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const
	Approximate the jacobian using forward finite difference. More...

Protected Types
typedef std::vector< segments_t >	intervalss_t

Protected Member Functions
virtual void	impl_compute (LiegroupElementRef result, vectorIn_t argument) const
	User implementation of function evaluation. More...

virtual void	impl_jacobian (matrixOut_t jacobian, vectorIn_t arg) const

Protected Member Functions inherited from hpp::constraints::DifferentiableFunction
	DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, size_type sizeOutput, std::string name=std::string())
	Concrete class constructor should call this constructor. More...

	DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, const LiegroupSpacePtr_t &outputSpace, std::string name=std::string())
	Concrete class constructor should call this constructor. More...

Protected Attributes
DifferentiableFunctionPtr_t	function_

segments_t	intervals_

Protected Attributes inherited from hpp::constraints::DifferentiableFunction
size_type	inputSize_
	Dimension of input vector. More...

size_type	inputDerivativeSize_
	Dimension of input derivative. More...

LiegroupSpacePtr_t	outputSpace_
	Dimension of output vector. More...

ArrayXb	activeParameters_
	Initialized to true by this class. More...

ArrayXb	activeDerivativeParameters_
	Initialized to true by this class. More...

Detailed Description

Handle bounds on input variables of a differentiable function.

This class is a decorator of class DifferentiableFunction that sets to 0 some columns of the Jacobian of the function.

The class is used to handle saturation of input variables of the function during numerical resolution of implicit constraints built with the function.

Member Typedef Documentation

typedef std::vector< segments_t > hpp::constraints::ActiveSetDifferentiableFunction::intervalss_t

protected

Constructor & Destructor Documentation

hpp::constraints::ActiveSetDifferentiableFunction::ActiveSetDifferentiableFunction	(	const DifferentiableFunctionPtr_t &	f,
		segments_t	intervals
	)

inline

Constructor.

Parameters

f	initial differentiable function,
intervals	set of intervals of indices corresponding to saturated input variables.

Member Function Documentation

const DifferentiableFunction& hpp::constraints::ActiveSetDifferentiableFunction::function ( ) const

inline

Get the original function.

const DifferentiableFunctionPtr_t& hpp::constraints::ActiveSetDifferentiableFunction::functionPtr ( ) const

inline

Get the original function.

virtual void hpp::constraints::ActiveSetDifferentiableFunction::impl_compute	(	LiegroupElementRef	result,
		vectorIn_t	argument
	)		const

inlineprotectedvirtual

User implementation of function evaluation.

Implements hpp::constraints::DifferentiableFunction.

virtual void hpp::constraints::ActiveSetDifferentiableFunction::impl_jacobian	(	matrixOut_t	jacobian,
		vectorIn_t	arg
	)		const

inlineprotectedvirtual

Implements hpp::constraints::DifferentiableFunction.

Member Data Documentation

DifferentiableFunctionPtr_t hpp::constraints::ActiveSetDifferentiableFunction::function_

protected

segments_t hpp::constraints::ActiveSetDifferentiableFunction::intervals_

protected

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation