hpp::constraints::function::OfParameterSubset Class Reference

#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)

Protected Member Functions
	OfParameterSubset (const DifferentiableFunctionPtr_t &g, const size_type &nArgs, const size_type &nDers, const segment_t &inArgs, const segment_t &inDers)
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_
ArrayXb	activeDerivativeParameters_

Additional Inherited Members
Public Member Functions inherited from hpp::constraints::DifferentiableFunction
virtual	~DifferentiableFunction ()
LiegroupElement	operator() (vectorIn_t argument) const
void	value (LiegroupElementRef result, vectorIn_t argument) const
void	jacobian (matrixOut_t jacobian, vectorIn_t argument) const
const ArrayXb &	activeParameters () const
const ArrayXb &	activeDerivativeParameters () const
size_type	inputSize () const
	Get dimension of input vector. More...
size_type	inputDerivativeSize () const
LiegroupSpacePtr_t	outputSpace () const
	Get output space. 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
void	finiteDifferenceCentral (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const

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

OfParameterSubset()

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

create()

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.

impl_compute()

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

inlineprotectedvirtual

User implementation of function evaluation.

Implements hpp::constraints::DifferentiableFunction.

impl_jacobian()

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

inlineprotectedvirtual

Implements hpp::constraints::DifferentiableFunction.

print()

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

g_

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

protected

sa_

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

protected

sd_

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

protected

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

• include/hpp/constraints/function/of-parameter-subset.hh