hpp::constraints::function::OfParameterSubset Class Reference

#include <hpp/constraints/function/of-parameter-subset.hh>

Inheritance diagram for hpp::constraints::function::OfParameterSubset:

Collaboration diagram for hpp::constraints::function::OfParameterSubset:

Static Public Member Functions
static OfParameterSubsetPtr_t	create (const DifferentiableFunctionPtr_t &g, const size_type &nArgs, const size_type &nDers, const segment_t &inArgs, const segment_t &inDers)
Static Public Member Functions inherited from hpp::constraints::DifferentiableFunction
static DifferentiableFunctionPtr_t	extract (DifferentiableFunctionPtr_t original, interval_t interval)

Protected Member Functions
	OfParameterSubset (const DifferentiableFunctionPtr_t &g, const size_type &nArgs, const size_type &nDers, const segment_t &inArgs, const segment_t &inDers)
void	impl_compute (LiegroupElementRef y, vectorIn_t arg) const
	User implementation of function evaluation.
void	impl_jacobian (matrixOut_t J, vectorIn_t arg) const
bool	isEqual (const DifferentiableFunction &other) const
std::ostream &	print (std::ostream &os) const
	Display object in a stream.
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 ()

Protected Attributes
DifferentiableFunctionPtr_t	g_
const segment_t	sa_
const segment_t	sd_
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_

Additional Inherited Members
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.
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

Detailed Description

Function depending on a subset of parameters

This class implements a function over a configuration space, the output values of which only depend on a convex subset of parameters.

where

• is the dimension of the input configuration space,
• is an interval included in ,
• is a differentiable mapping from to the output space of .

Constructor & Destructor Documentation

OfParameterSubset()

hpp::constraints::function::OfParameterSubset::OfParameterSubset ( const DifferentiableFunctionPtr_t & g, const size_type & nArgs, const size_type & nDers, const segment_t & inArgs, const segment_t & inDers )

protected

Constructor

Parameters

g	the mapping from the subset of parameters to the output space,
nArgs	dimension of the input space representation,
nDers	dimension of the input tangent space,
inArgs	interval of configuration indices,
inDers	interval of velocity indices.

Member Function Documentation

create()

OfParameterSubsetPtr_t hpp::constraints::function::OfParameterSubset::create ( const DifferentiableFunctionPtr_t & g, const size_type & nArgs, const size_type & nDers, const segment_t & inArgs, const segment_t & inDers )

inlinestatic

Create instance and return shared pointer

Parameters

g	the mapping from the subset of parameters to the output space,
nArgs	dimension of the input space representation,
nDers	dimension of the input tangent space,
inArgs	interval of configuration indices,
inDers	interval of velocity indices.

impl_compute()

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

inlineprotectedvirtual

User implementation of function evaluation.

Implements hpp::constraints::DifferentiableFunction.

impl_jacobian()

void hpp::constraints::function::OfParameterSubset::impl_jacobian ( matrixOut_t J, vectorIn_t arg ) const

inlineprotectedvirtual

Implements hpp::constraints::DifferentiableFunction.

isEqual()

bool hpp::constraints::function::OfParameterSubset::isEqual ( const DifferentiableFunction & other ) const

inlineprotectedvirtual

Reimplemented from hpp::constraints::DifferentiableFunction.

print()

std::ostream & hpp::constraints::function::OfParameterSubset::print ( std::ostream & o ) const

protectedvirtual

Display object in a stream.

Reimplemented from hpp::constraints::DifferentiableFunction.

Member Data Documentation

g_

DifferentiableFunctionPtr_t hpp::constraints::function::OfParameterSubset::g_

protected

sa_

const segment_t hpp::constraints::function::OfParameterSubset::sa_

protected

sd_

const segment_t hpp::constraints::function::OfParameterSubset::sd_

protected

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

• include/hpp/constraints/function/of-parameter-subset.hh