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hpp::constraints::DistanceBetweenPointsInBodies Class Reference
#include <hpp/constraints/distance-between-points-in-bodies.hh>
Inheritance diagram for hpp::constraints::DistanceBetweenPointsInBodies:
Collaboration diagram for hpp::constraints::DistanceBetweenPointsInBodies:
Public Member Functions | |
| virtual | ~DistanceBetweenPointsInBodies () |
| 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 DistanceBetweenPointsInBodiesPtr_t | create (const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint1, const JointPtr_t &joint2, const vector3_t &point1, const vector3_t &point2) |
| static DistanceBetweenPointsInBodiesPtr_t | create (const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint1, const vector3_t &point1, const vector3_t &point2) |
| Static Public Member Functions inherited from hpp::constraints::DifferentiableFunction | |
| static DifferentiableFunctionPtr_t | extract (DifferentiableFunctionPtr_t original, interval_t interval) |
Protected Member Functions | |
| DistanceBetweenPointsInBodies (const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint1, const JointPtr_t &joint2, const vector3_t &point1, const vector3_t &point2) | |
| DistanceBetweenPointsInBodies (const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint1, const vector3_t &point1, const vector3_t &point2) | |
| 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 two points in two joints
- or between a point in a joint and a point in the environment
The type of distance above is determined by the method "create" called.
Constructor & Destructor Documentation
◆ ~DistanceBetweenPointsInBodies()
| inlinevirtual |
◆ DistanceBetweenPointsInBodies() [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.
◆ DistanceBetweenPointsInBodies() [2/2]
| protected |
Protected constructor
- Parameters
name name of the constraint, robot robot that own the bodies, joint1 joint that holds the first body,
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, joint1 joint that holds the first point, joint2 joint that holds the second point, point1 point in frame of joint 1, point2 point in frame of joint 2.
◆ 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 point, point1 point in frame of joint 1, point2 point in frame of joint 2.
◆ 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-points-in-bodies.hh
