Complement to full transformation constraint of ConvexShapeContact. More...

#include <hpp/constraints/convex-shape-contact.hh>

Inheritance diagram for hpp::constraints::ConvexShapeContactComplement:

Collaboration diagram for hpp::constraints::ConvexShapeContactComplement:

Static Public Member Functions
static std::pair< ConvexShapeContactPtr_t, ConvexShapeContactComplementPtr_t >	createPair (const std::string &name, const std::string &complementName, const DevicePtr_t &robot)
	Create a pair of constraints. More...

Protected Member Functions
	ConvexShapeContactComplement (const std::string &name, const std::string &complementName, const DevicePtr_t &robot)
	Constructor. More...

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
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 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

Complement to full transformation constraint of ConvexShapeContact.

The value returned by this class is:

Contact type	Inside	Outside
ConvexShapeContact::POINT_ON_PLANE (Unsupported)	\((y,z,rx)\)	\((0,0,rx)\)
ConvexShapeContact::LINE_ON_PLANE (Unsupported)	\((y,z,rx)\)	\((0,0,rx)\)
ConvexShapeContact::PLANE_ON_PLANE	\((y,z,rx)\)	\((0,0,rx)\)

See ConvexShapeContact

Constructor & Destructor Documentation

hpp::constraints::ConvexShapeContactComplement::ConvexShapeContactComplement	(	const std::string &	name,
		const std::string &	complementName,
		const DevicePtr_t &	robot
	)

protected

Constructor.

Parameters

name	name of the ConvexShapeContact constraint,
complementName	name of the complement constraint,
robot

Member Function Documentation

static std::pair<ConvexShapeContactPtr_t, ConvexShapeContactComplementPtr_t > hpp::constraints::ConvexShapeContactComplement::createPair	(	const std::string &	name,
		const std::string &	complementName,
		const DevicePtr_t &	robot
	)

static

Create a pair of constraints.

The pair contains two complementary constraints to be used for manipulation applications.

Parameters

name	name of the ConvexShapeContact constraint,
complementName	name of the complement constraint,
robot

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation