Function depending on a subset of parameters. More...

#include <hpp/constraints/function/of-parameter-subset.hh>

Inheritance diagram for hpp::constraints::function::OfParameterSubset:

Collaboration diagram for hpp::constraints::function::OfParameterSubset:

Static Public Member Functions
static OfParameterSubsetPtr_t	create (const DifferentiableFunctionPtr_t &g, const size_type &nArgs, const size_type &nDers, const segment_t &inArgs, const segment_t &inDers)
	Create instance and return shared pointer. More...

Protected Member Functions
	OfParameterSubset (const DifferentiableFunctionPtr_t &g, const size_type &nArgs, const size_type &nDers, const segment_t &inArgs, const segment_t &inDers)
	Constructor. More...

void	impl_compute (LiegroupElementRef y, vectorIn_t arg) const
	User implementation of function evaluation. More...

void	impl_jacobian (matrixOut_t J, vectorIn_t arg) const

std::ostream &	print (std::ostream &os) const
	Display object in a stream. 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...

Protected Attributes
DifferentiableFunctionPtr_t	g_

const segment_t	sa_

const segment_t	sd_

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...

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...

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...

Detailed Description

Function depending on a subset of parameters.

This class implements a function over a configuration space, the output values of which only depend on a convex subset of parameters.

\begin{equation} f (q_1,\cdots,q_n) = g (q_{i},\cdots,q_{i+p-1}) \end{equation}

where

\(n\) is the dimension of the input configuration space,
\([i,i+p-1]\) is an interval included in \([1,n]\),
\(g\) is a differentiable mapping from \(\mathbf{R}^p\) to the output space of \(f\).

Constructor & Destructor Documentation

hpp::constraints::function::OfParameterSubset::OfParameterSubset	(	const DifferentiableFunctionPtr_t &	g,
		const size_type &	nArgs,
		const size_type &	nDers,
		const segment_t &	inArgs,
		const segment_t &	inDers
	)

protected

Constructor.

Parameters

g	the mapping from the subset of parameters to the output space,
nArgs	dimension \(n\) of the input space representation,
nDers	dimension of the input tangent space,
inArgs	interval \([i,i+p-1]\) of configuration indices,
inDers	interval of velocity indices.

Member Function Documentation

static OfParameterSubsetPtr_t hpp::constraints::function::OfParameterSubset::create	(	const DifferentiableFunctionPtr_t &	g,
		const size_type &	nArgs,
		const size_type &	nDers,
		const segment_t &	inArgs,
		const segment_t &	inDers
	)

inlinestatic

Create instance and return shared pointer.

Parameters

g	the mapping from the subset of parameters to the output space,
nArgs	dimension \(n\) of the input space representation,
nDers	dimension of the input tangent space,
inArgs	interval \([i,i+p-1]\) of configuration indices,
inDers	interval of velocity indices.

void hpp::constraints::function::OfParameterSubset::impl_compute	(	LiegroupElementRef	result,
		vectorIn_t	argument
	)		const

inlineprotectedvirtual

User implementation of function evaluation.

Implements hpp::constraints::DifferentiableFunction.

void hpp::constraints::function::OfParameterSubset::impl_jacobian	(	matrixOut_t	J,
		vectorIn_t	arg
	)		const

inlineprotectedvirtual

Implements hpp::constraints::DifferentiableFunction.

std::ostream& hpp::constraints::function::OfParameterSubset::print ( std::ostream & o ) const

protectedvirtual

Display object in a stream.

Reimplemented from hpp::constraints::DifferentiableFunction.

Member Data Documentation

DifferentiableFunctionPtr_t hpp::constraints::function::OfParameterSubset::g_

protected

const segment_t hpp::constraints::function::OfParameterSubset::sa_

protected

const segment_t hpp::constraints::function::OfParameterSubset::sd_

protected

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation