hpp::constraints::MatrixOfExpressions< ValueType, JacobianType > Class Template Reference

Matrix having Expression elements. More...

#include <hpp/constraints/symbolic-calculus.hh>

Inheritance diagram for hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >:

Collaboration diagram for hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >:

Public Types
typedef Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic >	Value_t
typedef Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic >	Jacobian_t
typedef Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic >	PseudoInv_t
typedef Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic >	PseudoInvJacobian_t
typedef CalculusBase< MatrixOfExpressions, Value_t, Jacobian_t >	Parent_t
typedef CalculusBaseAbstract< ValueType, JacobianType >	Element_t
typedef Traits< Element_t >::Ptr_t	ElementPtr_t
typedef Eigen::JacobiSVD< Value_t >	SVD_t
Public Types inherited from hpp::constraints::CalculusBaseAbstract< Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > >
typedef Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic >	ValueType_t
typedef Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic >	JacobianType_t

Public Member Functions
	HPP_CONSTRAINTS_CB_CREATE2 (MatrixOfExpressions, const Eigen::Ref< const Value_t > &, const Eigen::Ref< const Jacobian_t > &) MatrixOfExpressions(const Eigen
	MatrixOfExpressions (const Parent_t &other)
	MatrixOfExpressions (const MatrixOfExpressions &matrix)
void	setSize (std::size_t nRows, std::size_t nCols)
ElementPtr_t &	operator() (std::size_t i, std::size_t j)
void	set (std::size_t i, std::size_t j, const ElementPtr_t ptr)
void	impl_value (const ConfigurationIn_t arg)
void	impl_jacobian (const ConfigurationIn_t arg)
const PseudoInv_t &	pinv () const
const PseudoInvJacobian_t &	pinvJacobian () const
void	computeSVD (const ConfigurationIn_t arg)
void	computePseudoInverse (const ConfigurationIn_t arg)
void	computePseudoInverseJacobian (const ConfigurationIn_t arg, const Eigen::Ref< const Eigen::Matrix< value_type, Eigen::Dynamic, 1 > > &rhs)
void	jacobianTimes (const ConfigurationIn_t arg, const Eigen::Ref< const Eigen::Matrix< value_type, Eigen::Dynamic, 1 > > &rhs, Eigen::Ref< Jacobian_t > cache) const
void	jacobianTransposeTimes (const ConfigurationIn_t arg, const Eigen::Ref< const Eigen::Matrix< value_type, Eigen::Dynamic, 1 > > &rhs, Eigen::Ref< Jacobian_t > cache) const
Eigen::JacobiSVD< Value_t > &	svd ()
void	invalidate ()
Public Member Functions inherited from hpp::constraints::CalculusBase< MatrixOfExpressions< eigen::vector3_t, JacobianMatrix >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > >
	CalculusBase ()
const Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > &	value () const
const Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > &	jacobian () const
void	computeValue (const ConfigurationIn_t arg)
void	computeJacobian (const ConfigurationIn_t arg)
const CrossMatrix &	cross () const
void	computeCrossValue (const ConfigurationIn_t arg)

Public Attributes
std::size_t	nRows_
std::size_t	nCols_
std::vector< std::vector< ElementPtr_t > >	elements_

Additional Inherited Members
Protected Member Functions inherited from hpp::constraints::CalculusBase< MatrixOfExpressions< eigen::vector3_t, JacobianMatrix >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > >
void	init (const typename Traits< MatrixOfExpressions< eigen::vector3_t, JacobianMatrix > >::Ptr_t &ptr)
Protected Attributes inherited from hpp::constraints::CalculusBase< MatrixOfExpressions< eigen::vector3_t, JacobianMatrix >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > >
Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic >	value_
Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic >	jacobian_
CrossMatrix	cross_
bool	vValid_
bool	jValid_
bool	cValid_

Detailed Description

template<typename ValueType = eigen::vector3_t, typename JacobianType = JacobianMatrix>
class hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >

Matrix having Expression elements.

Member Typedef Documentation

Element_t

template<typename ValueType = eigen::vector3_t, typename JacobianType = JacobianMatrix>

typedef CalculusBaseAbstract<ValueType, JacobianType> hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >::Element_t

ElementPtr_t

template<typename ValueType = eigen::vector3_t, typename JacobianType = JacobianMatrix>

typedef Traits<Element_t>::Ptr_t hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >::ElementPtr_t

Jacobian_t

template<typename ValueType = eigen::vector3_t, typename JacobianType = JacobianMatrix>

typedef Eigen::Matrix<value_type, Eigen::Dynamic, Eigen::Dynamic> hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >::Jacobian_t

Parent_t

template<typename ValueType = eigen::vector3_t, typename JacobianType = JacobianMatrix>

typedef CalculusBase<MatrixOfExpressions, Value_t, Jacobian_t> hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >::Parent_t

PseudoInv_t

template<typename ValueType = eigen::vector3_t, typename JacobianType = JacobianMatrix>

typedef Eigen::Matrix<value_type, Eigen::Dynamic, Eigen::Dynamic> hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >::PseudoInv_t

PseudoInvJacobian_t

template<typename ValueType = eigen::vector3_t, typename JacobianType = JacobianMatrix>

typedef Eigen::Matrix<value_type, Eigen::Dynamic, Eigen::Dynamic> hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >::PseudoInvJacobian_t

SVD_t

template<typename ValueType = eigen::vector3_t, typename JacobianType = JacobianMatrix>

typedef Eigen::JacobiSVD<Value_t> hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >::SVD_t

Value_t

template<typename ValueType = eigen::vector3_t, typename JacobianType = JacobianMatrix>

typedef Eigen::Matrix<value_type, Eigen::Dynamic, Eigen::Dynamic> hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >::Value_t

Constructor & Destructor Documentation

MatrixOfExpressions() [1/2]

template<typename ValueType = eigen::vector3_t, typename JacobianType = JacobianMatrix>

hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >::MatrixOfExpressions ( const Parent_t & other )

inline

MatrixOfExpressions() [2/2]

template<typename ValueType = eigen::vector3_t, typename JacobianType = JacobianMatrix>

hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >::MatrixOfExpressions ( const MatrixOfExpressions< ValueType, JacobianType > & matrix )

inline

Member Function Documentation

computePseudoInverse()

template<typename ValueType = eigen::vector3_t, typename JacobianType = JacobianMatrix>

void hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >::computePseudoInverse ( const ConfigurationIn_t arg )

inline

computePseudoInverseJacobian()

template<typename ValueType = eigen::vector3_t, typename JacobianType = JacobianMatrix>

void hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >::computePseudoInverseJacobian ( const ConfigurationIn_t arg, const Eigen::Ref< const Eigen::Matrix< value_type, Eigen::Dynamic, 1 > > & rhs )

inline

computeSVD()

template<typename ValueType = eigen::vector3_t, typename JacobianType = JacobianMatrix>

void hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >::computeSVD ( const ConfigurationIn_t arg )

inline

HPP_CONSTRAINTS_CB_CREATE2()

template<typename ValueType = eigen::vector3_t, typename JacobianType = JacobianMatrix>

hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >::HPP_CONSTRAINTS_CB_CREATE2 ( MatrixOfExpressions< ValueType, JacobianType > , const Eigen::Ref< const Value_t > & , const Eigen::Ref< const Jacobian_t > &  ) const

inline

impl_jacobian()

template<typename ValueType = eigen::vector3_t, typename JacobianType = JacobianMatrix>

void hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >::impl_jacobian ( const ConfigurationIn_t arg )

inline

impl_value()

template<typename ValueType = eigen::vector3_t, typename JacobianType = JacobianMatrix>

void hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >::impl_value ( const ConfigurationIn_t arg )

inline

invalidate()

template<typename ValueType = eigen::vector3_t, typename JacobianType = JacobianMatrix>

void hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >::invalidate ( )

inlinevirtual

Reimplemented from hpp::constraints::CalculusBase< MatrixOfExpressions< eigen::vector3_t, JacobianMatrix >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > >.

jacobianTimes()

template<typename ValueType = eigen::vector3_t, typename JacobianType = JacobianMatrix>

void hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >::jacobianTimes ( const ConfigurationIn_t arg, const Eigen::Ref< const Eigen::Matrix< value_type, Eigen::Dynamic, 1 > > & rhs, Eigen::Ref< Jacobian_t > cache ) const

inline

jacobianTransposeTimes()

template<typename ValueType = eigen::vector3_t, typename JacobianType = JacobianMatrix>

void hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >::jacobianTransposeTimes ( const ConfigurationIn_t arg, const Eigen::Ref< const Eigen::Matrix< value_type, Eigen::Dynamic, 1 > > & rhs, Eigen::Ref< Jacobian_t > cache ) const

inline

operator()()

template<typename ValueType = eigen::vector3_t, typename JacobianType = JacobianMatrix>

ElementPtr_t & hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >::operator() ( std::size_t i, std::size_t j )

inline

pinv()

template<typename ValueType = eigen::vector3_t, typename JacobianType = JacobianMatrix>

const PseudoInv_t & hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >::pinv ( ) const

inline

pinvJacobian()

template<typename ValueType = eigen::vector3_t, typename JacobianType = JacobianMatrix>

const PseudoInvJacobian_t & hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >::pinvJacobian ( ) const

inline

set()

template<typename ValueType = eigen::vector3_t, typename JacobianType = JacobianMatrix>

void hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >::set ( std::size_t i, std::size_t j, const ElementPtr_t ptr )

inline

setSize()

template<typename ValueType = eigen::vector3_t, typename JacobianType = JacobianMatrix>

void hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >::setSize ( std::size_t nRows, std::size_t nCols )

inline

svd()

template<typename ValueType = eigen::vector3_t, typename JacobianType = JacobianMatrix>

Eigen::JacobiSVD< Value_t > & hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >::svd ( )

inline

Member Data Documentation

elements_

template<typename ValueType = eigen::vector3_t, typename JacobianType = JacobianMatrix>

std::vector<std::vector<ElementPtr_t> > hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >::elements_

nCols_

template<typename ValueType = eigen::vector3_t, typename JacobianType = JacobianMatrix>

std::size_t hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >::nCols_

nRows_

template<typename ValueType = eigen::vector3_t, typename JacobianType = JacobianMatrix>

std::size_t hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >::nRows_

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

• include/hpp/constraints/symbolic-calculus.hh