hpp::constraints::CalculusBase< T > Class Template Reference

Main abstract class. More...

#include <hpp/constraints/tools.hh>

Inheritance diagram for hpp::constraints::CalculusBase< T >:

Collaboration diagram for hpp::constraints::CalculusBase< T >:

Public Member Functions
	CalculusBase ()
const eigen::vector3_t &	value () const
const JacobianMatrix &	jacobian () const
const CrossMatrix &	cross () const
void	computeCrossValue ()
template<typename RhsType >
CrossProduct< T, RhsType >	operator^ (const RhsType &rhs) const
template<typename RhsType >
Difference< T, RhsType >	operator- (const RhsType &rhs) const
template<typename RhsType >
Sum< T, RhsType >	operator+ (const RhsType &rhs) const
ScalarMultiply< T >	operator* (const value_type &scalar) const
Public Member Functions inherited from hpp::constraints::CalculusBaseAbstract
virtual void	computeValue ()=0
virtual void	computeJacobian ()=0

Protected Attributes
eigen::vector3_t	value_
JacobianMatrix	jacobian_
CrossMatrix	cross_

Additional Inherited Members
Static Public Member Functions inherited from hpp::constraints::CalculusBaseAbstract
template<typename Type >
static boost::shared_ptr< Type >	create (const Type &copy)

Detailed Description

template<class T>
class hpp::constraints::CalculusBase< T >

Main abstract class.

The framework is using CRTP to virtual function calls overload. Keep in mind, so far, no mathematical simplification is done on the expression you provide. It means that you may have a more efficient expression by calculating and simplifying the jacobian yourself. These classes provide:

• a fast way of defining new constraints,
• a robust way of calculation of jacobians - hand calculation error proof
• a fast way to check the results of your calculations.

Constructor & Destructor Documentation

template<class T>

hpp::constraints::CalculusBase< T >::CalculusBase ( )

inline

Member Function Documentation

template<class T>

void hpp::constraints::CalculusBase< T >::computeCrossValue ( )

inline

template<class T>

const CrossMatrix& hpp::constraints::CalculusBase< T >::cross ( ) const

inline

template<class T>

const JacobianMatrix& hpp::constraints::CalculusBase< T >::jacobian ( ) const

inlinevirtual

Implements hpp::constraints::CalculusBaseAbstract.

Referenced by hpp::constraints::Point::Point().

template<class T>

ScalarMultiply< T > hpp::constraints::CalculusBase< T >::operator* ( const value_type &  scalar ) const

inline

template<class T>

template<typename RhsType >

Sum< T, RhsType > hpp::constraints::CalculusBase< T >::operator+ ( const RhsType &  rhs ) const

inline

template<class T>

template<typename RhsType >

Difference< T, RhsType > hpp::constraints::CalculusBase< T >::operator- ( const RhsType &  rhs ) const

inline

template<class T>

template<typename RhsType >

CrossProduct< T, RhsType > hpp::constraints::CalculusBase< T >::operator^ ( const RhsType &  rhs ) const

inline

template<class T>

const eigen::vector3_t& hpp::constraints::CalculusBase< T >::value ( ) const

inlinevirtual

Implements hpp::constraints::CalculusBaseAbstract.

Referenced by hpp::constraints::Point::Point().

Member Data Documentation

template<class T>

CrossMatrix hpp::constraints::CalculusBase< T >::cross_

protected

Referenced by hpp::constraints::CalculusBase< CrossProduct< LhsValue, RhsValue > >::computeCrossValue(), and hpp::constraints::CalculusBase< CrossProduct< LhsValue, RhsValue > >::cross().

template<class T>

JacobianMatrix hpp::constraints::CalculusBase< T >::jacobian_

protected

Referenced by hpp::constraints::CalculusBase< CrossProduct< LhsValue, RhsValue > >::jacobian().

template<class T>

eigen::vector3_t hpp::constraints::CalculusBase< T >::value_

protected

Referenced by hpp::constraints::CalculusBase< CrossProduct< LhsValue, RhsValue > >::value().