hpp::manipulation::graph::Foliation Class Reference

This class represents a foliation of a submanifold of the configuration space. More...

#include <hpp/manipulation/graph/statistics.hh>

Public Member Functions
bool	contains (ConfigurationIn_t q) const
	Whether the configuration is the submanifold ${M}$. More...
vector_t	parameter (ConfigurationIn_t q) const
	Whether the configuration is the submanifold ${M}$. More...
void	condition (const ConstraintSetPtr_t c)
ConstraintSetPtr_t	condition () const
void	parametrizer (const ConstraintSetPtr_t p)
ConstraintSetPtr_t	parametrizer () const

Detailed Description

This class represents a foliation of a submanifold of the configuration space.

Such a foliation is defined by the two following functions:

• a condition $f$ such that the submanifold is ${M}= {q {C} | f(q)=0 }$
• a parametrizer $g$ such that the leaf of this foliation is a level set of $g$.

Member Function Documentation

void hpp::manipulation::graph::Foliation::condition

(

const ConstraintSetPtr_t

c

)

ConstraintSetPtr_t hpp::manipulation::graph::Foliation::condition

(

)

const

bool hpp::manipulation::graph::Foliation::contains

(

ConfigurationIn_t

q

)

const

Whether the configuration is the submanifold ${M}$.

vector_t hpp::manipulation::graph::Foliation::parameter

(

ConfigurationIn_t

q

)

const

Whether the configuration is the submanifold ${M}$.

void hpp::manipulation::graph::Foliation::parametrizer

(

const ConstraintSetPtr_t

p

)

ConstraintSetPtr_t hpp::manipulation::graph::Foliation::parametrizer

(

)

const