hpp::constraints::ImplicitConstraintSet Class Reference

#include <hpp/constraints/implicit-constraint-set.hh>

Inheritance diagram for hpp::constraints::ImplicitConstraintSet:

Collaboration diagram for hpp::constraints::ImplicitConstraintSet:

Public Types
typedef std::vector< ImplicitPtr_t >	Implicits_t

Public Member Functions
virtual	~ImplicitConstraintSet ()
std::ostream &	print (std::ostream &os) const
	ImplicitConstraintSet (const std::string &name)
	ImplicitConstraintSet ()
	ImplicitConstraintSet (const ImplicitConstraintSet &o)
Function stack management
void	add (const ImplicitPtr_t &constraint)
const Implicits_t &	constraints () const
	Get constraints.
void	merge (const ImplicitConstraintSetPtr_t &other)
	The output columns selection of other is not taken into account.
Public Member Functions inherited from hpp::constraints::Implicit
bool	operator== (const Implicit &other) const
	Operator equality.
Implicit &	operator= (const Implicit &other)
	Operator assignation.
virtual ImplicitPtr_t	copy () const
	Copy object and return shared pointer to copy.
virtual	~Implicit ()
const ComparisonTypes_t &	comparisonType () const
	Return the ComparisonType.
void	comparisonType (const ComparisonTypes_t &comp)
	Set the comparison type.
const segments_t &	activeRows () const
bool	checkAllRowsActive () const
	Check if all rows are active (no inactive rows)
const Eigen::RowBlockIndices &	equalityIndices () const
	Get indices of constraint coordinates that are equality.
void	setInactiveRowsToZero (vectorOut_t error) const
DifferentiableFunction &	function () const
	Return a reference to function .
const DifferentiableFunctionPtr_t &	functionPtr () const
	Return a reference to function .
virtual std::pair< JointConstPtr_t, JointConstPtr_t >	doesConstrainRelPoseBetween (DeviceConstPtr_t robot) const
void	rightHandSideFromConfig (ConfigurationIn_t config, LiegroupElementRef rhs)
bool	checkRightHandSide (LiegroupElementConstRef rhs) const
size_type	parameterSize () const
size_type	rightHandSideSize () const
void	rightHandSideFunction (const DifferentiableFunctionPtr_t &rhsF)
const DifferentiableFunctionPtr_t &	rightHandSideFunction () const
vectorIn_t	rightHandSideAt (const value_type &s)

Static Public Member Functions
static ImplicitConstraintSetPtr_t	create (const std::string &name)
Static Public Member Functions inherited from hpp::constraints::Implicit
static ImplicitPtr_t	create (const DifferentiableFunctionPtr_t &func, ComparisonTypes_t comp, std::vector< bool > mask=std::vector< bool >())
static ImplicitPtr_t	createCopy (const ImplicitPtr_t &other)
	Create a copy and return shared pointer.

Friends
class	solver::HierarchicalIterative

Additional Inherited Members
Protected Member Functions inherited from hpp::constraints::Implicit
	Implicit (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp, std::vector< bool > mask)
	Implicit (const Implicit &other)
	Copy constructor.
virtual bool	isEqual (const Implicit &other, bool swapAndTest) const
void	init (const ImplicitWkPtr_t &weak)
	Implicit ()

Detailed Description

Set of implicit constraints

This class also handles selection of cols of the output matrix.

Member Typedef Documentation

Implicits_t

typedef std::vector<ImplicitPtr_t> hpp::constraints::ImplicitConstraintSet::Implicits_t

Constructor & Destructor Documentation

~ImplicitConstraintSet()

virtual hpp::constraints::ImplicitConstraintSet::~ImplicitConstraintSet ( )

inlinevirtual

ImplicitConstraintSet() [1/3]

hpp::constraints::ImplicitConstraintSet::ImplicitConstraintSet ( const std::string & name )

inline

Constructor

Parameters

name	the name of the constraints,

ImplicitConstraintSet() [2/3]

hpp::constraints::ImplicitConstraintSet::ImplicitConstraintSet ( )

inline

ImplicitConstraintSet() [3/3]

hpp::constraints::ImplicitConstraintSet::ImplicitConstraintSet ( const ImplicitConstraintSet & o )

inline

Member Function Documentation

add()

void hpp::constraints::ImplicitConstraintSet::add ( const ImplicitPtr_t & constraint )

inline

constraints()

const Implicits_t & hpp::constraints::ImplicitConstraintSet::constraints ( ) const

inline

Get constraints.

create()

ImplicitConstraintSetPtr_t hpp::constraints::ImplicitConstraintSet::create ( const std::string & name )

inlinestatic

Return a shared pointer to a new instance

Parameters

name	the name of the constraints,

merge()

void hpp::constraints::ImplicitConstraintSet::merge ( const ImplicitConstraintSetPtr_t & other )

inline

The output columns selection of other is not taken into account.

print()

std::ostream & hpp::constraints::ImplicitConstraintSet::print ( std::ostream & os ) const

inline

Friends And Related Symbol Documentation

solver::HierarchicalIterative

friend class solver::HierarchicalIterative

friend

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

• include/hpp/constraints/implicit-constraint-set.hh