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hpp::constraints::DistanceBetweenBodies Class Reference
#include <hpp/constraints/distance-between-bodies.hh>
Inheritance diagram for hpp::constraints::DistanceBetweenBodies:
Collaboration diagram for hpp::constraints::DistanceBetweenBodies:
Public Member Functions | |
| virtual | ~DistanceBetweenBodies () |
| 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. | |
| virtual std::ostream & | print (std::ostream &o) const |
| Display object in a stream. | |
| 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 DistanceBetweenBodiesPtr_t | create (const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint1, const JointPtr_t &joint2) |
| static DistanceBetweenBodiesPtr_t | create (const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint, const std::vector< CollisionObjectPtr_t > &objects) |
| Static Public Member Functions inherited from hpp::constraints::DifferentiableFunction | |
| static DifferentiableFunctionPtr_t | extract (DifferentiableFunctionPtr_t original, interval_t interval) |
Protected Member Functions | |
| DistanceBetweenBodies (const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint1, const JointPtr_t &joint2) | |
| DistanceBetweenBodies (const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint, const std::vector< CollisionObjectPtr_t > &objects) | |
| virtual void | impl_compute (LiegroupElementRef result, ConfigurationIn_t argument) const |
| virtual void | impl_jacobian (matrixOut_t jacobian, ConfigurationIn_t arg) const |
| 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
Distance between two sets of objects
This function maps to a configuration of a robot, the distance
- either between objects of a joints and objects of another joint,
- or objects of a joint with a list of fixed objects.
The above type of distance is determined by the method "create" called.
Constructor & Destructor Documentation
◆ ~DistanceBetweenBodies()
| inlinevirtual |
◆ DistanceBetweenBodies() [1/2]
| protected |
Protected constructor
- Parameters
name name of the constraint, robot robot that own the bodies, joint1 joint that holds the first body, joint2 joint that holds the second body.
◆ DistanceBetweenBodies() [2/2]
| protected |
Protected constructor
- Parameters
name name of the constraint, robot robot that own the bodies, joint joint that holds the body, objects list of fixed objects in the environment.
Member Function Documentation
◆ create() [1/2]
| static |
Create instance and return shared pointer
- Parameters
name name of the constraint, robot robot that own the bodies, joint joint that holds the body, objects list of fixed objects in the environment.
◆ create() [2/2]
| static |
Create instance and return shared pointer
- Parameters
name name of the constraint, robot robot that own the bodies, joint1 joint that holds the first body, joint2 joint that holds the second body.
◆ impl_compute()
| protectedvirtual |
◆ impl_jacobian()
| protectedvirtual |
◆ isEqual()
| inlineprotectedvirtual |
Reimplemented from hpp::constraints::DifferentiableFunction.
The documentation for this class was generated from the following file:
- include/hpp/constraints/distance-between-bodies.hh
