hpp::constraints::CalculusBaseAbstract< ValueType, JacobianType > Class Template Reference

Abstract class defining a basic common interface. More...

#include <hpp/constraints/symbolic-calculus.hh>

Inheritance diagram for hpp::constraints::CalculusBaseAbstract< ValueType, JacobianType >:

Public Types
typedef ValueType	ValueType_t
typedef JacobianType	JacobianType_t

Public Member Functions
virtual const ValueType &	value () const =0
virtual const JacobianType &	jacobian () const =0
virtual void	computeValue (const ConfigurationIn_t arg)=0
virtual void	computeJacobian (const ConfigurationIn_t arg)=0
virtual void	invalidate ()=0

Detailed Description

template<class ValueType = eigen::vector3_t, class JacobianType = JacobianMatrix>
class hpp::constraints::CalculusBaseAbstract< ValueType, JacobianType >

Abstract class defining a basic common interface.

The purpose of this class is to allow the user to define an expression without requiring to explicitly write its type. The type will be automatically deduced by the compiler.

// First define a, b and c with basic elements.
CalculusBaseAbstract<OutValueType, OutJacobianType>::Ptr_t myExpression_ptr =
  CalculusBaseAbstract<OutValueType, OutJacobianType>::create (a + b * c)

Member Typedef Documentation

template<class ValueType = eigen::vector3_t, class JacobianType = JacobianMatrix>

typedef JacobianType hpp::constraints::CalculusBaseAbstract< ValueType, JacobianType >::JacobianType_t

template<class ValueType = eigen::vector3_t, class JacobianType = JacobianMatrix>

typedef ValueType hpp::constraints::CalculusBaseAbstract< ValueType, JacobianType >::ValueType_t

Member Function Documentation

template<class ValueType = eigen::vector3_t, class JacobianType = JacobianMatrix>

virtual void hpp::constraints::CalculusBaseAbstract< ValueType, JacobianType >::computeJacobian ( const ConfigurationIn_t  arg )

pure virtual

Implemented in hpp::constraints::CalculusBase< T, ValueType, JacobianType, CrossType >, hpp::constraints::CalculusBase< MatrixOfExpressions< ValueType, JacobianType >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > >, hpp::constraints::CalculusBase< FunctionExp< FunctionType >, vector_t, matrix_t >, hpp::constraints::CalculusBase< JointFrame, Eigen::Matrix< value_type, 6, 1 >, Eigen::Matrix< value_type, 6, Eigen::Dynamic > >, hpp::constraints::CalculusBase< Difference< LhsValue, RhsValue > >, hpp::constraints::CalculusBase< VectorInJoint >, hpp::constraints::CalculusBase< ScalarProduct< LhsValue, RhsValue >, value_type, RowJacobianMatrix >, hpp::constraints::CalculusBase< Point, vector3_t, JacobianMatrix >, hpp::constraints::CalculusBase< Sum< LhsValue, RhsValue > >, hpp::constraints::CalculusBase< ScalarMultiply< RhsValue > >, hpp::constraints::CalculusBase< MatrixOfExpressions< eigen::vector3_t, JacobianMatrix >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > >, hpp::constraints::CalculusBase< PointInJoint >, hpp::constraints::CalculusBase< RotationMultiply< RhsValue > >, hpp::constraints::CalculusBase< CrossProduct< LhsValue, RhsValue > >, and hpp::constraints::CalculusBase< PointCom, vector3_t, ComJacobian_t >.

template<class ValueType = eigen::vector3_t, class JacobianType = JacobianMatrix>

virtual void hpp::constraints::CalculusBaseAbstract< ValueType, JacobianType >::computeValue ( const ConfigurationIn_t  arg )

pure virtual

Implemented in hpp::constraints::CalculusBase< T, ValueType, JacobianType, CrossType >, hpp::constraints::CalculusBase< MatrixOfExpressions< ValueType, JacobianType >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > >, hpp::constraints::CalculusBase< FunctionExp< FunctionType >, vector_t, matrix_t >, hpp::constraints::CalculusBase< JointFrame, Eigen::Matrix< value_type, 6, 1 >, Eigen::Matrix< value_type, 6, Eigen::Dynamic > >, hpp::constraints::CalculusBase< Difference< LhsValue, RhsValue > >, hpp::constraints::CalculusBase< VectorInJoint >, hpp::constraints::CalculusBase< ScalarProduct< LhsValue, RhsValue >, value_type, RowJacobianMatrix >, hpp::constraints::CalculusBase< Point, vector3_t, JacobianMatrix >, hpp::constraints::CalculusBase< Sum< LhsValue, RhsValue > >, hpp::constraints::CalculusBase< ScalarMultiply< RhsValue > >, hpp::constraints::CalculusBase< MatrixOfExpressions< eigen::vector3_t, JacobianMatrix >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > >, hpp::constraints::CalculusBase< PointInJoint >, hpp::constraints::CalculusBase< RotationMultiply< RhsValue > >, hpp::constraints::CalculusBase< CrossProduct< LhsValue, RhsValue > >, and hpp::constraints::CalculusBase< PointCom, vector3_t, ComJacobian_t >.

template<class ValueType = eigen::vector3_t, class JacobianType = JacobianMatrix>

virtual void hpp::constraints::CalculusBaseAbstract< ValueType, JacobianType >::invalidate ( )

pure virtual

Implemented in hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >, hpp::constraints::MatrixOfExpressions< eigen::vector3_t, JacobianMatrix >, hpp::constraints::RotationMultiply< RhsValue >, hpp::constraints::ScalarMultiply< RhsValue >, hpp::constraints::Sum< LhsValue, RhsValue >, hpp::constraints::Difference< LhsValue, RhsValue >, hpp::constraints::ScalarProduct< LhsValue, RhsValue >, hpp::constraints::CrossProduct< LhsValue, RhsValue >, hpp::constraints::CalculusBase< T, ValueType, JacobianType, CrossType >, hpp::constraints::CalculusBase< MatrixOfExpressions< ValueType, JacobianType >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > >, hpp::constraints::CalculusBase< FunctionExp< FunctionType >, vector_t, matrix_t >, hpp::constraints::CalculusBase< JointFrame, Eigen::Matrix< value_type, 6, 1 >, Eigen::Matrix< value_type, 6, Eigen::Dynamic > >, hpp::constraints::CalculusBase< Difference< LhsValue, RhsValue > >, hpp::constraints::CalculusBase< VectorInJoint >, hpp::constraints::CalculusBase< ScalarProduct< LhsValue, RhsValue >, value_type, RowJacobianMatrix >, hpp::constraints::CalculusBase< Point, vector3_t, JacobianMatrix >, hpp::constraints::CalculusBase< Sum< LhsValue, RhsValue > >, hpp::constraints::CalculusBase< ScalarMultiply< RhsValue > >, hpp::constraints::CalculusBase< MatrixOfExpressions< eigen::vector3_t, JacobianMatrix >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > >, hpp::constraints::CalculusBase< PointInJoint >, hpp::constraints::CalculusBase< RotationMultiply< RhsValue > >, hpp::constraints::CalculusBase< CrossProduct< LhsValue, RhsValue > >, and hpp::constraints::CalculusBase< PointCom, vector3_t, ComJacobian_t >.

template<class ValueType = eigen::vector3_t, class JacobianType = JacobianMatrix>

virtual const JacobianType& hpp::constraints::CalculusBaseAbstract< ValueType, JacobianType >::jacobian ( ) const

pure virtual

Implemented in hpp::constraints::PointCom, hpp::constraints::CalculusBase< T, ValueType, JacobianType, CrossType >, hpp::constraints::CalculusBase< MatrixOfExpressions< ValueType, JacobianType >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > >, hpp::constraints::CalculusBase< FunctionExp< FunctionType >, vector_t, matrix_t >, hpp::constraints::CalculusBase< JointFrame, Eigen::Matrix< value_type, 6, 1 >, Eigen::Matrix< value_type, 6, Eigen::Dynamic > >, hpp::constraints::CalculusBase< Difference< LhsValue, RhsValue > >, hpp::constraints::CalculusBase< VectorInJoint >, hpp::constraints::CalculusBase< ScalarProduct< LhsValue, RhsValue >, value_type, RowJacobianMatrix >, hpp::constraints::CalculusBase< Point, vector3_t, JacobianMatrix >, hpp::constraints::CalculusBase< Sum< LhsValue, RhsValue > >, hpp::constraints::CalculusBase< ScalarMultiply< RhsValue > >, hpp::constraints::CalculusBase< MatrixOfExpressions< eigen::vector3_t, JacobianMatrix >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > >, hpp::constraints::CalculusBase< PointInJoint >, hpp::constraints::CalculusBase< RotationMultiply< RhsValue > >, hpp::constraints::CalculusBase< CrossProduct< LhsValue, RhsValue > >, and hpp::constraints::CalculusBase< PointCom, vector3_t, ComJacobian_t >.

template<class ValueType = eigen::vector3_t, class JacobianType = JacobianMatrix>

virtual const ValueType& hpp::constraints::CalculusBaseAbstract< ValueType, JacobianType >::value ( ) const

pure virtual

Implemented in hpp::constraints::PointCom, hpp::constraints::CalculusBase< T, ValueType, JacobianType, CrossType >, hpp::constraints::CalculusBase< MatrixOfExpressions< ValueType, JacobianType >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > >, hpp::constraints::CalculusBase< FunctionExp< FunctionType >, vector_t, matrix_t >, hpp::constraints::CalculusBase< JointFrame, Eigen::Matrix< value_type, 6, 1 >, Eigen::Matrix< value_type, 6, Eigen::Dynamic > >, hpp::constraints::CalculusBase< Difference< LhsValue, RhsValue > >, hpp::constraints::CalculusBase< VectorInJoint >, hpp::constraints::CalculusBase< ScalarProduct< LhsValue, RhsValue >, value_type, RowJacobianMatrix >, hpp::constraints::CalculusBase< Point, vector3_t, JacobianMatrix >, hpp::constraints::CalculusBase< Sum< LhsValue, RhsValue > >, hpp::constraints::CalculusBase< ScalarMultiply< RhsValue > >, hpp::constraints::CalculusBase< MatrixOfExpressions< eigen::vector3_t, JacobianMatrix >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > >, hpp::constraints::CalculusBase< PointInJoint >, hpp::constraints::CalculusBase< RotationMultiply< RhsValue > >, hpp::constraints::CalculusBase< CrossProduct< LhsValue, RhsValue > >, and hpp::constraints::CalculusBase< PointCom, vector3_t, ComJacobian_t >.