#include <hpp/constraints/affine-function.hh>

Inheritance diagram for hpp::constraints::ConstantFunction:

Collaboration diagram for hpp::constraints::ConstantFunction:

Public Member Functions
	ConstantFunction (const vector_t &constant, const size_type &sizeIn, const size_type &sizeInDer, const std::string name="ConstantFunction")

	ConstantFunction (const LiegroupElement &element, const size_type &sizeIn, const size_type &sizeInDer, const std::string name="ConstantFunction")

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

void	impl_jacobian (matrixOut_t J, vectorIn_t) const

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...

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

Public Attributes
const LiegroupElement	c_

Additional Inherited Members
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 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_

Detailed Description

Constant function \( f(q) = C \)

Todo:: should we handle specifically this function is the solvers ?

Constructor & Destructor Documentation

◆ ConstantFunction() [1/2]

hpp::constraints::ConstantFunction::ConstantFunction	(	const vector_t &	constant,
		const size_type &	sizeIn,
		const size_type &	sizeInDer,
		const std::string	name = `"ConstantFunction"`
	)

inline

◆ ConstantFunction() [2/2]

hpp::constraints::ConstantFunction::ConstantFunction	(	const LiegroupElement &	element,
		const size_type &	sizeIn,
		const size_type &	sizeInDer,
		const std::string	name = `"ConstantFunction"`
	)

inline

Member Function Documentation

◆ impl_compute()

void hpp::constraints::ConstantFunction::impl_compute	(	LiegroupElementRef	r,
		vectorIn_t
	)		const

inlinevirtual

User implementation of function evaluation.

Implements hpp::constraints::DifferentiableFunction.

◆ impl_jacobian()

void hpp::constraints::ConstantFunction::impl_jacobian	(	matrixOut_t	J,
		vectorIn_t
	)		const

inlinevirtual

Implements hpp::constraints::DifferentiableFunction.

Member Data Documentation

◆ c_

const LiegroupElement hpp::constraints::ConstantFunction::c_

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

include/hpp/constraints/affine-function.hh

Public Member Functions

Public Attributes

Additional Inherited Members