hpp::constraints::Manipulability Class Reference

Differentiable function. More...

#include <hpp/constraints/manipulability.hh>

Inheritance diagram for hpp::constraints::Manipulability:

Collaboration diagram for hpp::constraints::Manipulability:

Public Member Functions
virtual	~Manipulability ()
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 ManipulabilityPtr_t	create (DifferentiableFunctionPtr_t function, DevicePtr_t robot, std::string name)
Static Public Member Functions inherited from hpp::constraints::DifferentiableFunction
static DifferentiableFunctionPtr_t	extract (DifferentiableFunctionPtr_t original, interval_t interval)

Protected Member Functions
	Manipulability (DifferentiableFunctionPtr_t function, DevicePtr_t robot, std::string name)
	Concrete class constructor should call this constructor.
void	impl_compute (LiegroupElementRef result, vectorIn_t argument) const
	User implementation of function evaluation.
void	impl_jacobian (matrixOut_t jacobian, vectorIn_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.
	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

Differentiable function.

Constructor & Destructor Documentation

~Manipulability()

virtual hpp::constraints::Manipulability::~Manipulability ( )

inlinevirtual

Manipulability()

hpp::constraints::Manipulability::Manipulability ( DifferentiableFunctionPtr_t function, DevicePtr_t robot, std::string name )

protected

Concrete class constructor should call this constructor.

Parameters

function	the function which must be analysed
name	function's name

Member Function Documentation

create()

ManipulabilityPtr_t hpp::constraints::Manipulability::create ( DifferentiableFunctionPtr_t function, DevicePtr_t robot, std::string name )

inlinestatic

impl_compute()

void hpp::constraints::Manipulability::impl_compute ( LiegroupElementRef result, vectorIn_t argument ) const

protectedvirtual

User implementation of function evaluation.

Implements hpp::constraints::DifferentiableFunction.

impl_jacobian()

void hpp::constraints::Manipulability::impl_jacobian ( matrixOut_t jacobian, vectorIn_t arg ) const

protectedvirtual

Implements hpp::constraints::DifferentiableFunction.

isEqual()

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

inlineprotectedvirtual

Reimplemented from hpp::constraints::DifferentiableFunction.

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

• include/hpp/constraints/manipulability.hh