hpp::constraints::ConstantFunction Struct Reference

Constant function \( f(q) = C \). More...

#include <hpp/constraints/affine-function.hh>

Inheritance diagram for hpp::constraints::ConstantFunction:

Collaboration diagram for hpp::constraints::ConstantFunction:

Public Member Functions
	ConstantFunction (const vector_t &constant, const size_type &sizeIn, const size_type &sizeInDer, const std::string name="ConstantFunction")
	ConstantFunction (const LiegroupElement &element, const size_type &sizeIn, const size_type &sizeInDer, const std::string name="ConstantFunction")
void	impl_compute (LiegroupElementRef r, vectorIn_t) const
	User implementation of function evaluation. More...
void	impl_jacobian (matrixOut_t J, vectorIn_t) const
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...

Public Attributes
const LiegroupElement	c_

Additional Inherited Members
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 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

Constant function \( f(q) = C \).

Todo:

should we handle specifically this function is the solvers ?

Constructor & Destructor Documentation

hpp::constraints::ConstantFunction::ConstantFunction ( const vector_t &  constant, const size_type &  sizeIn, const size_type &  sizeInDer, const std::string  name = "ConstantFunction"  )

inline

hpp::constraints::ConstantFunction::ConstantFunction ( const LiegroupElement &  element, const size_type &  sizeIn, const size_type &  sizeInDer, const std::string  name = "ConstantFunction"  )

inline

Member Function Documentation

void hpp::constraints::ConstantFunction::impl_compute ( LiegroupElementRef  r, vectorIn_t    ) const

inlinevirtual

User implementation of function evaluation.

Implements hpp::constraints::DifferentiableFunction.

void hpp::constraints::ConstantFunction::impl_jacobian ( matrixOut_t  J, vectorIn_t    ) const

inlinevirtual

Implements hpp::constraints::DifferentiableFunction.

Member Data Documentation

const LiegroupElement hpp::constraints::ConstantFunction::c_