hpp::constraints::ConfigurationConstraint Class Reference

Square distance between input configuration and reference configuration. More...

#include <hpp/constraints/configuration-constraint.hh>

Inheritance diagram for hpp::constraints::ConfigurationConstraint:

Collaboration diagram for hpp::constraints::ConfigurationConstraint:

Public Member Functions
virtual	~ConfigurationConstraint ()
	ConfigurationConstraint (const std::string &name, const DevicePtr_t &robot, ConfigurationIn_t goal, const vector_t &weights)
const vector_t &	weights () const
void	weights (const vector_t &ws)
const LiegroupElement &	goal () 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.
size_type	inputDerivativeSize () const
LiegroupSpacePtr_t	outputSpace () const
	Get output space.
size_type	outputSize () const
	Get dimension of output vector.
size_type	outputDerivativeSize () const
	Get dimension of output derivative vector.
const std::string &	name () const
	Get function name.
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
bool	operator== (DifferentiableFunction const &other) const
bool	operator!= (DifferentiableFunction const &b) const
virtual std::pair< JointConstPtr_t, JointConstPtr_t >	dependsOnRelPoseBetween (DeviceConstPtr_t) const

Static Public Member Functions
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW ConfigurationConstraintPtr_t	create (const std::string &name, const DevicePtr_t &robot, ConfigurationIn_t goal, std::vector< bool > mask=std::vector< bool >(0))
	Return a shared pointer to a new instance.
static ConfigurationConstraintPtr_t	create (const std::string &name, const DevicePtr_t &robot, ConfigurationIn_t goal, const vector_t &weights)
Static Public Member Functions inherited from hpp::constraints::DifferentiableFunction
static DifferentiableFunctionPtr_t	extract (DifferentiableFunctionPtr_t original, interval_t interval)

Protected Member Functions
virtual void	impl_compute (LiegroupElementRef result, ConfigurationIn_t argument) const
virtual void	impl_jacobian (matrixOut_t jacobian, ConfigurationIn_t arg) const
std::ostream &	print (std::ostream &o) const
	Display object in a stream.
bool	isEqual (const DifferentiableFunction &other) const
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.
	DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, const LiegroupSpacePtr_t &outputSpace, std::string name=std::string())
	Concrete class constructor should call this constructor.
virtual void	impl_compute (LiegroupElementRef result, vectorIn_t argument) const =0
	User implementation of function evaluation.
virtual void	impl_jacobian (matrixOut_t jacobian, vectorIn_t arg) const =0
	DifferentiableFunction ()

Additional Inherited Members
Protected Attributes inherited from hpp::constraints::DifferentiableFunction
size_type	inputSize_
	Dimension of input vector.
size_type	inputDerivativeSize_
	Dimension of input derivative.
LiegroupSpacePtr_t	outputSpace_
	Dimension of output vector.
ArrayXb	activeParameters_
ArrayXb	activeDerivativeParameters_

Detailed Description

Square distance between input configuration and reference configuration.

Constructor & Destructor Documentation

~ConfigurationConstraint()

virtual hpp::constraints::ConfigurationConstraint::~ConfigurationConstraint ( )

inlinevirtual

ConfigurationConstraint()

hpp::constraints::ConfigurationConstraint::ConfigurationConstraint	(	const std::string &	name,
		const DevicePtr_t &	robot,
		ConfigurationIn_t	goal,
		const vector_t &	weights )

Parameters

weights

vector of size robot->numberDof()

Member Function Documentation

create() [1/2]

ConfigurationConstraintPtr_t hpp::constraints::ConfigurationConstraint::create ( const std::string & name, const DevicePtr_t & robot, ConfigurationIn_t goal, const vector_t & weights )

static

Return a shared pointer to a new instance

Parameters

weights

vector of size robot->numberDof()

create() [2/2]

EIGEN_MAKE_ALIGNED_OPERATOR_NEW ConfigurationConstraintPtr_t hpp::constraints::ConfigurationConstraint::create ( const std::string & name, const DevicePtr_t & robot, ConfigurationIn_t goal, std::vector< bool > mask = std::vector< bool >(0) )

static

Return a shared pointer to a new instance.

goal()

const LiegroupElement & hpp::constraints::ConfigurationConstraint::goal ( ) const

inline

impl_compute()

virtual void hpp::constraints::ConfigurationConstraint::impl_compute ( LiegroupElementRef result, ConfigurationIn_t argument ) const

protectedvirtual

Compute value of error

Parameters

argument

configuration of the robot,

Return values

result

error vector

impl_jacobian()

virtual void hpp::constraints::ConfigurationConstraint::impl_jacobian ( matrixOut_t jacobian, ConfigurationIn_t arg ) const

protectedvirtual

isEqual()

bool hpp::constraints::ConfigurationConstraint::isEqual ( const DifferentiableFunction & other ) const

inlineprotectedvirtual

Reimplemented from hpp::constraints::DifferentiableFunction.

print()

std::ostream & hpp::constraints::ConfigurationConstraint::print ( std::ostream & o ) const

protectedvirtual

Display object in a stream.

Reimplemented from hpp::constraints::DifferentiableFunction.

weights() [1/2]

const vector_t & hpp::constraints::ConfigurationConstraint::weights ( ) const

inline

weights() [2/2]

void hpp::constraints::ConfigurationConstraint::weights

(

const vector_t &

ws

)

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

• include/hpp/constraints/configuration-constraint.hh