symbolic-calculus.hh File Reference

#include <Eigen/SVD>
#include <hpp/pinocchio/joint.hh>
#include <hpp/pinocchio/center-of-mass-computation.hh>
#include <hpp/pinocchio/liegroup-element.hh>
#include <hpp/constraints/fwd.hh>
#include <hpp/constraints/svd.hh>
#include <hpp/constraints/tools.hh>
#include <hpp/constraints/macros.hh>

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Classes
class	hpp::constraints::CalculusBaseAbstract< ValueType, JacobianType >
struct	hpp::constraints::Traits< Class >
class	hpp::constraints::Expression< LhsValue, RhsValue >
	Base class for classes representing an operation. More...
class	hpp::constraints::CrossProduct< LhsValue, RhsValue >
	Cross product of two expressions. More...
class	hpp::constraints::ScalarProduct< LhsValue, RhsValue >
	Scalar product of two expressions. More...
class	hpp::constraints::Difference< LhsValue, RhsValue >
	Difference of two expressions. More...
class	hpp::constraints::Sum< LhsValue, RhsValue >
	Sum of two expressions. More...
class	hpp::constraints::ScalarMultiply< RhsValue >
	Multiplication of an expression by a scalar. More...
class	hpp::constraints::RotationMultiply< RhsValue >
	Multiplication of an expression by a rotation matrix. More...
struct	hpp::constraints::Traits< Class >
struct	hpp::constraints::Traits< value_type >
struct	hpp::constraints::Traits< pinocchio::Joint >
struct	hpp::constraints::JointTranspose
struct	hpp::constraints::Traits< JointTranspose >
class	hpp::constraints::CalculusBaseAbstract< ValueType, JacobianType >
class	hpp::constraints::CalculusBase< T, ValueType, JacobianType, CrossType >
class	hpp::constraints::Expression< LhsValue, RhsValue >
	Base class for classes representing an operation. More...
class	hpp::constraints::CrossProduct< LhsValue, RhsValue >
	Cross product of two expressions. More...
class	hpp::constraints::ScalarProduct< LhsValue, RhsValue >
	Scalar product of two expressions. More...
class	hpp::constraints::Difference< LhsValue, RhsValue >
	Difference of two expressions. More...
class	hpp::constraints::Sum< LhsValue, RhsValue >
	Sum of two expressions. More...
class	hpp::constraints::ScalarMultiply< RhsValue >
	Multiplication of an expression by a scalar. More...
class	hpp::constraints::RotationMultiply< RhsValue >
	Multiplication of an expression by a rotation matrix. More...
class	hpp::constraints::PointInJoint
	Basic expression representing a point in a joint frame. More...
class	hpp::constraints::VectorInJoint
	Basic expression representing a vector in a joint frame. More...
class	hpp::constraints::FunctionExp< FunctionType >
	Basic expression mapping a function as an expression. More...
class	hpp::constraints::Point
class	hpp::constraints::PointCom
	Basic expression representing a COM. More...
class	hpp::constraints::JointFrame
class	hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >
	Matrix having Expression elements. More...

Namespaces
	hpp
	hpp::constraints

Macros
#define	HPP_CONSTRAINTS_CB_REF   boost::shared_ptr
#define	HPP_CONSTRAINTS_CB_WKREF   boost::shared_ptr
#define	HPP_CONSTRAINTS_CB_DEFINE_OPERATOR1(op, InType, OutType)
#define	HPP_CONSTRAINTS_CB_FRIEND_OPERATOR1(op, InType, OutType)
#define	HPP_CONSTRAINTS_CB_DEFINE_OPERATOR2(op, OutType)
#define	HPP_CONSTRAINTS_CB_FRIEND_OPERATOR2(op, OutType)
#define	HPP_CONSTRAINTS_CB_CREATE1(Class, Arg0Type)
#define	HPP_CONSTRAINTS_CB_CREATE2(Class, Arg0Type, Arg1Type)
#define	HPP_CONSTRAINTS_CB_CREATE3(Class, Arg0Type, Arg1Type, Arg2Type)

Typedefs
typedef eigen::matrix3_t	hpp::constraints::CrossMatrix
typedef Eigen::Matrix< value_type, 1, Eigen::Dynamic, Eigen::RowMajor >	hpp::constraints::RowJacobianMatrix
typedef Eigen::Matrix< value_type, 3, Eigen::Dynamic, Eigen::RowMajor >	hpp::constraints::JacobianMatrix

Macro Definition Documentation

HPP_CONSTRAINTS_CB_CREATE1

#define HPP_CONSTRAINTS_CB_CREATE1	(		Class,
			Arg0Type
	)

Value:

static typename Traits <Class>::Ptr_t create (Arg0Type arg0) { \
    typename Traits <Class>::Ptr_t ptr (new Class (arg0)); \
    ptr->init (ptr); \
    return ptr; \
  }

HPP_CONSTRAINTS_CB_CREATE2

#define HPP_CONSTRAINTS_CB_CREATE2	(		Class,
			Arg0Type,
			Arg1Type
	)

Value:

static typename Traits <Class>::Ptr_t create (Arg0Type arg0, Arg1Type arg1) { \
    typename Traits <Class>::Ptr_t ptr (new Class (arg0, arg1)); \
    ptr->init (ptr); \
    return ptr; \
  }

HPP_CONSTRAINTS_CB_CREATE3

#define HPP_CONSTRAINTS_CB_CREATE3	(		Class,
			Arg0Type,
			Arg1Type,
			Arg2Type
	)

Value:

static typename Traits <Class>::Ptr_t create (Arg0Type arg0, Arg1Type arg1, Arg2Type arg2) { \
    typename Traits <Class>::Ptr_t ptr (new Class (arg0, arg1, arg2)); \
    ptr->init (ptr); \
    return ptr; \
  }

HPP_CONSTRAINTS_CB_DEFINE_OPERATOR1

#define HPP_CONSTRAINTS_CB_DEFINE_OPERATOR1	(		op,
			InType,
			OutType
	)

Value:

template < typename RhsType > \
        typename Traits <OutType < RhsType > >::Ptr_t op ( \
            const InType& lhs, \
            const HPP_CONSTRAINTS_CB_REF <RhsType>& rhs) { \
          typedef OutType < RhsType> Op_t; \
          return Op_t::create (lhs, rhs); \
        }

HPP_CONSTRAINTS_CB_DEFINE_OPERATOR2

#define HPP_CONSTRAINTS_CB_DEFINE_OPERATOR2	(		op,
			OutType
	)

Value:

template < typename LhsType, typename RhsType > \
        typename Traits <OutType < LhsType, RhsType > >::Ptr_t op ( \
            const HPP_CONSTRAINTS_CB_REF <LhsType>& lhs, \
            const HPP_CONSTRAINTS_CB_REF <RhsType>& rhs) { \
          typedef OutType < LhsType, RhsType> Op_t; \
          return Op_t::create (lhs, rhs); \
        }

HPP_CONSTRAINTS_CB_FRIEND_OPERATOR1

#define HPP_CONSTRAINTS_CB_FRIEND_OPERATOR1	(		op,
			InType,
			OutType
	)

Value:

template < typename RhsType > \
        friend typename Traits <OutType < RhsType > >::Ptr_t op ( \
            const InType& lhs, \
            const HPP_CONSTRAINTS_CB_REF <RhsType>& rhs);

HPP_CONSTRAINTS_CB_FRIEND_OPERATOR2

#define HPP_CONSTRAINTS_CB_FRIEND_OPERATOR2	(		op,
			OutType
	)

Value:

template < typename LhsType, typename RhsType > \
        friend typename Traits <OutType < LhsType, RhsType > >::Ptr_t op ( \
            const HPP_CONSTRAINTS_CB_REF <LhsType>& lhs, \
            const HPP_CONSTRAINTS_CB_REF <RhsType>& rhs);

HPP_CONSTRAINTS_CB_REF

#define HPP_CONSTRAINTS_CB_REF   boost::shared_ptr

HPP_CONSTRAINTS_CB_WKREF

#define HPP_CONSTRAINTS_CB_WKREF   boost::shared_ptr