hpp::constraints::CalculusBase< T, ValueType, JacobianType, CrossType > Class Template Reference

#include <hpp/constraints/symbolic-calculus.hh>

Inheritance diagram for hpp::constraints::CalculusBase< T, ValueType, JacobianType, CrossType >:

Collaboration diagram for hpp::constraints::CalculusBase< T, ValueType, JacobianType, CrossType >:

Public Member Functions
	CalculusBase ()
	CalculusBase (const ValueType &value, const JacobianType &jacobian)
	CalculusBase (const CalculusBase &o)
const ValueType &	value () const
const JacobianType &	jacobian () const
void	computeValue (const ConfigurationIn_t arg)
void	computeJacobian (const ConfigurationIn_t arg)
void	invalidate ()
const CrossType &	cross () const
void	computeCrossValue (const ConfigurationIn_t arg)

Protected Member Functions
void	init (const typename Traits< T >::Ptr_t &ptr)

Protected Attributes
ValueType	value_
JacobianType	jacobian_
CrossType	cross_
bool	vValid_
bool	jValid_
bool	cValid_

Additional Inherited Members
Public Types inherited from hpp::constraints::CalculusBaseAbstract< ValueType, JacobianType >
typedef ValueType	ValueType_t
typedef JacobianType	JacobianType_t

Detailed Description

template<class T, class ValueType = vector3_t, class JacobianType = JacobianMatrix, class CrossType = CrossMatrix>
class hpp::constraints::CalculusBase< T, ValueType, JacobianType, CrossType >

Main abstract class.

The framework is using CRTP to virtual function calls overload. Keep in mind, so far, no mathematical simplification is done on the expression you provide. It means that you may have a more efficient expression by calculating and simplifying the jacobian yourself. These classes provide:

• a fast way of defining new constraints,
• a robust way of calculation of jacobians - hand calculation error proof
• a fast way to check the results of your calculations.

Constructor & Destructor Documentation

CalculusBase() [1/3]

template<class T, class ValueType = vector3_t, class JacobianType = JacobianMatrix, class CrossType = CrossMatrix>

hpp::constraints::CalculusBase< T, ValueType, JacobianType, CrossType >::CalculusBase ( )

inline

CalculusBase() [2/3]

template<class T, class ValueType = vector3_t, class JacobianType = JacobianMatrix, class CrossType = CrossMatrix>

hpp::constraints::CalculusBase< T, ValueType, JacobianType, CrossType >::CalculusBase ( const ValueType &  value, const JacobianType &  jacobian  )

inline

CalculusBase() [3/3]

template<class T, class ValueType = vector3_t, class JacobianType = JacobianMatrix, class CrossType = CrossMatrix>

hpp::constraints::CalculusBase< T, ValueType, JacobianType, CrossType >::CalculusBase ( const CalculusBase< T, ValueType, JacobianType, CrossType > &  o )

inline

Member Function Documentation

computeCrossValue()

template<class T, class ValueType = vector3_t, class JacobianType = JacobianMatrix, class CrossType = CrossMatrix>

void hpp::constraints::CalculusBase< T, ValueType, JacobianType, CrossType >::computeCrossValue ( const ConfigurationIn_t  arg )

inline

computeJacobian()

template<class T, class ValueType = vector3_t, class JacobianType = JacobianMatrix, class CrossType = CrossMatrix>

void hpp::constraints::CalculusBase< T, ValueType, JacobianType, CrossType >::computeJacobian ( const ConfigurationIn_t  arg )

inlinevirtual

Implements hpp::constraints::CalculusBaseAbstract< ValueType, JacobianType >.

computeValue()

template<class T, class ValueType = vector3_t, class JacobianType = JacobianMatrix, class CrossType = CrossMatrix>

void hpp::constraints::CalculusBase< T, ValueType, JacobianType, CrossType >::computeValue ( const ConfigurationIn_t  arg )

inlinevirtual

Implements hpp::constraints::CalculusBaseAbstract< ValueType, JacobianType >.

cross()

template<class T, class ValueType = vector3_t, class JacobianType = JacobianMatrix, class CrossType = CrossMatrix>

const CrossType& hpp::constraints::CalculusBase< T, ValueType, JacobianType, CrossType >::cross ( ) const

inline

init()

template<class T, class ValueType = vector3_t, class JacobianType = JacobianMatrix, class CrossType = CrossMatrix>

void hpp::constraints::CalculusBase< T, ValueType, JacobianType, CrossType >::init ( const typename Traits< T >::Ptr_t &  ptr )

inlineprotected

invalidate()

template<class T, class ValueType = vector3_t, class JacobianType = JacobianMatrix, class CrossType = CrossMatrix>

void hpp::constraints::CalculusBase< T, ValueType, JacobianType, CrossType >::invalidate ( )

inlinevirtual

Implements hpp::constraints::CalculusBaseAbstract< ValueType, JacobianType >.

Reimplemented in hpp::constraints::MatrixOfExpressions< eigen::vector3_t, JacobianMatrix >.

jacobian()

template<class T, class ValueType = vector3_t, class JacobianType = JacobianMatrix, class CrossType = CrossMatrix>

const JacobianType& hpp::constraints::CalculusBase< T, ValueType, JacobianType, CrossType >::jacobian ( ) const

inlinevirtual

Implements hpp::constraints::CalculusBaseAbstract< ValueType, JacobianType >.

value()

template<class T, class ValueType = vector3_t, class JacobianType = JacobianMatrix, class CrossType = CrossMatrix>

const ValueType& hpp::constraints::CalculusBase< T, ValueType, JacobianType, CrossType >::value ( ) const

inlinevirtual

Implements hpp::constraints::CalculusBaseAbstract< ValueType, JacobianType >.

Member Data Documentation

cross_

template<class T, class ValueType = vector3_t, class JacobianType = JacobianMatrix, class CrossType = CrossMatrix>

CrossType hpp::constraints::CalculusBase< T, ValueType, JacobianType, CrossType >::cross_

protected

cValid_

template<class T, class ValueType = vector3_t, class JacobianType = JacobianMatrix, class CrossType = CrossMatrix>

bool hpp::constraints::CalculusBase< T, ValueType, JacobianType, CrossType >::cValid_

protected

jacobian_

template<class T, class ValueType = vector3_t, class JacobianType = JacobianMatrix, class CrossType = CrossMatrix>

JacobianType hpp::constraints::CalculusBase< T, ValueType, JacobianType, CrossType >::jacobian_

protected

jValid_

template<class T, class ValueType = vector3_t, class JacobianType = JacobianMatrix, class CrossType = CrossMatrix>

bool hpp::constraints::CalculusBase< T, ValueType, JacobianType, CrossType >::jValid_

protected

value_

template<class T, class ValueType = vector3_t, class JacobianType = JacobianMatrix, class CrossType = CrossMatrix>

ValueType hpp::constraints::CalculusBase< T, ValueType, JacobianType, CrossType >::value_

protected

vValid_

template<class T, class ValueType = vector3_t, class JacobianType = JacobianMatrix, class CrossType = CrossMatrix>

bool hpp::constraints::CalculusBase< T, ValueType, JacobianType, CrossType >::vValid_

protected

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The documentation for this class was generated from the following file:

• include/hpp/constraints/symbolic-calculus.hh