hpp::manipulation::graph::Foliation Class Reference

#include <hpp/manipulation/graph/statistics.hh>

Public Member Functions
bool	contains (ConfigurationIn_t q) const
	Whether the configuration is the submanifold $\mathcal{M}$.
vector_t	parameter (ConfigurationIn_t q) const
	Whether the configuration is the submanifold $\mathcal{M}$.
void	condition (const ConstraintSetPtr_t c)
ConstraintSetPtr_t	condition () const
void	parametrizer (const ConstraintSetPtr_t p)
ConstraintSetPtr_t	parametrizer () const

Detailed Description

This class represents a foliation of a submanifold of the configuration space. Such a foliation is defined by the two following functions:

• a condition $f$ such that the submanifold is $\mathcal{M}= \left{q \in \mathbb{C} | f(q)=0 \right}$
• a parametrizer $g$ such that the leaf of this foliation is a level set of $g$.

Member Function Documentation

condition() [1/2]

ConstraintSetPtr_t hpp::manipulation::graph::Foliation::condition

(

)

const

condition() [2/2]

void hpp::manipulation::graph::Foliation::condition

(

const ConstraintSetPtr_t

c

)

contains()

bool hpp::manipulation::graph::Foliation::contains

(

ConfigurationIn_t

q

)

const

Whether the configuration is the submanifold $\mathcal{M}$.

parameter()

vector_t hpp::manipulation::graph::Foliation::parameter

(

ConfigurationIn_t

q

)

const

Whether the configuration is the submanifold $\mathcal{M}$.

parametrizer() [1/2]

ConstraintSetPtr_t hpp::manipulation::graph::Foliation::parametrizer

(

)

const

parametrizer() [2/2]

void hpp::manipulation::graph::Foliation::parametrizer

(

const ConstraintSetPtr_t

p

)

---

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

• include/hpp/manipulation/graph/statistics.hh