Square distance between input configuration and reference configuration. More...

#include <hpp/constraints/configuration-constraint.hh>

Inheritance diagram for hpp::constraints::ConfigurationConstraint:

Collaboration diagram for hpp::constraints::ConfigurationConstraint:

Public Member Functions
virtual	~ConfigurationConstraint () throw ()

	ConfigurationConstraint (const std::string &name, const DevicePtr_t &robot, ConfigurationIn_t goal, const vector_t &weights)

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...

Static Public Member Functions
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW ConfigurationConstraintPtr_t	create (const std::string &name, const DevicePtr_t &robot, ConfigurationIn_t goal, std::vector< bool > mask=std::vector< bool >(0))
	Return a shared pointer to a new instance. More...

static ConfigurationConstraintPtr_t	create (const std::string &name, const DevicePtr_t &robot, ConfigurationIn_t goal, const vector_t &weights)
	Return a shared pointer to a new instance. More...

Protected Member Functions
virtual void	impl_compute (LiegroupElementRef result, ConfigurationIn_t argument) const throw ()
	Compute value of error. More...

virtual void	impl_jacobian (matrixOut_t jacobian, ConfigurationIn_t arg) const throw ()

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...

virtual void	impl_compute (LiegroupElementRef result, vectorIn_t argument) const =0
	User implementation of function evaluation. More...

virtual void	impl_jacobian (matrixOut_t jacobian, vectorIn_t arg) const =0

Additional Inherited Members
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

Square distance between input configuration and reference configuration.

Constructor & Destructor Documentation

virtual hpp::constraints::ConfigurationConstraint::~ConfigurationConstraint	(	)
throw	(
	)

inlinevirtual

hpp::constraints::ConfigurationConstraint::ConfigurationConstraint	(	const std::string &	name,
		const DevicePtr_t &	robot,
		ConfigurationIn_t	goal,
		const vector_t &	weights
	)

Parameters

weights vector of size robot->numberDof()

Member Function Documentation

static EIGEN_MAKE_ALIGNED_OPERATOR_NEW ConfigurationConstraintPtr_t hpp::constraints::ConfigurationConstraint::create	(	const std::string &	name,
		const DevicePtr_t &	robot,
		ConfigurationIn_t	goal,
		std::vector< bool >	mask = `std::vector< bool >(0)`
	)

static

Return a shared pointer to a new instance.

static ConfigurationConstraintPtr_t hpp::constraints::ConfigurationConstraint::create	(	const std::string &	name,
		const DevicePtr_t &	robot,
		ConfigurationIn_t	goal,
		const vector_t &	weights
	)

static

Return a shared pointer to a new instance.

Parameters

weights vector of size robot->numberDof()

virtual void hpp::constraints::ConfigurationConstraint::impl_compute	(	LiegroupElementRef	result,
		ConfigurationIn_t	argument
	)		const
throw	(
	)

protectedvirtual

Compute value of error.

Parameters

argument configuration of the robot,

Return values

result error vector

virtual void hpp::constraints::ConfigurationConstraint::impl_jacobian	(	matrixOut_t	jacobian,
		ConfigurationIn_t	arg
	)		const
throw	(
	)

protectedvirtual

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation