hpp::constraints::DifferentiableFunctionSet Class Reference

Set of differentiable functions. More...

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

Inheritance diagram for hpp::constraints::DifferentiableFunctionSet:

Collaboration diagram for hpp::constraints::DifferentiableFunctionSet:

Public Types
typedef std::vector< DifferentiableFunctionPtr_t >	Functions_t

Public Member Functions
virtual	~DifferentiableFunctionSet () throw ()
std::ostream &	print (std::ostream &os) const
	Display object in a stream. More...
	DifferentiableFunctionSet (const std::string &name)
	Constructor. More...
	DifferentiableFunctionSet ()
Function stack management
const Functions_t &	functions () const
	Get the stack of functions. More...
void	add (const DifferentiableFunctionPtr_t &func)
void	merge (const DifferentiableFunctionSetPtr_t &other)
	The output columns selection of other is not taken into account. 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...
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 DifferentiableFunctionSetPtr_t	create (const std::string &name)
	Return a shared pointer to a new instance. More...

Protected Member Functions
void	impl_compute (LiegroupElementRef result, ConfigurationIn_t arg) const throw ()
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

Set of differentiable functions.

This class also handles selection of cols of the output matrix.

Member Typedef Documentation

typedef std::vector<DifferentiableFunctionPtr_t> hpp::constraints::DifferentiableFunctionSet::Functions_t

Constructor & Destructor Documentation

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

inlinevirtual

hpp::constraints::DifferentiableFunctionSet::DifferentiableFunctionSet ( const std::string &  name )

inline

Constructor.

Parameters

name	the name of the constraints,

hpp::constraints::DifferentiableFunctionSet::DifferentiableFunctionSet ( )

inline

Member Function Documentation

void hpp::constraints::DifferentiableFunctionSet::add ( const DifferentiableFunctionPtr_t &  func )

inline

References Eigen::assert().

static DifferentiableFunctionSetPtr_t hpp::constraints::DifferentiableFunctionSet::create ( const std::string &  name )

inlinestatic

Return a shared pointer to a new instance.

Parameters

name	the name of the constraints,

const Functions_t& hpp::constraints::DifferentiableFunctionSet::functions ( ) const

inline

Get the stack of functions.

void hpp::constraints::DifferentiableFunctionSet::impl_compute ( LiegroupElementRef  result, ConfigurationIn_t  arg  ) const throw ( )

inlineprotected

References hpp::constraints::DifferentiableFunction::impl_compute(), and hpp::constraints::DifferentiableFunction::outputSize().

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

inlineprotected

References hpp::constraints::DifferentiableFunction::impl_jacobian(), and hpp::constraints::DifferentiableFunction::outputDerivativeSize().

void hpp::constraints::DifferentiableFunctionSet::merge ( const DifferentiableFunctionSetPtr_t &  other )

inline

The output columns selection of other is not taken into account.

std::ostream& hpp::constraints::DifferentiableFunctionSet::print ( std::ostream &  o ) const

virtual

Display object in a stream.

Reimplemented from hpp::constraints::DifferentiableFunction.