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hpp::constraints::CalculusBaseAbstract< ValueType, JacobianType > Class Template Referenceabstract

Abstract class defining a basic common interface. More...

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

Inheritance diagram for hpp::constraints::CalculusBaseAbstract< ValueType, JacobianType >:
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Public Types

typedef ValueType ValueType_t
 
typedef JacobianType JacobianType_t
 

Public Member Functions

virtual const ValueType & value () const =0
 
virtual const JacobianType & jacobian () const =0
 
virtual void computeValue ()=0
 
virtual void computeJacobian ()=0
 
virtual void invalidate ()=0
 

Detailed Description

template<typename ValueType, typename JacobianType>
class hpp::constraints::CalculusBaseAbstract< ValueType, JacobianType >

Abstract class defining a basic common interface.

The purpose of this class is to allow the user to define an expression without requiring to explicitly write its type. The type will be automatically deduced by the compiler.

* // First define a, b and c with basic elements.
* CalculusBaseAbstract<OutValueType, OutJacobianType>::Ptr_t myExpression_ptr =
* CalculusBaseAbstract<OutValueType, OutJacobianType>::create (a + b * c)
*

Member Typedef Documentation

template<typename ValueType, typename JacobianType>
typedef JacobianType hpp::constraints::CalculusBaseAbstract< ValueType, JacobianType >::JacobianType_t
template<typename ValueType, typename JacobianType>
typedef ValueType hpp::constraints::CalculusBaseAbstract< ValueType, JacobianType >::ValueType_t

Member Function Documentation

template<typename ValueType, typename JacobianType>
virtual void hpp::constraints::CalculusBaseAbstract< ValueType, JacobianType >::computeJacobian ( )
pure virtual
template<typename ValueType, typename JacobianType>
virtual void hpp::constraints::CalculusBaseAbstract< ValueType, JacobianType >::computeValue ( )
pure virtual
template<typename ValueType, typename JacobianType>
virtual void hpp::constraints::CalculusBaseAbstract< ValueType, JacobianType >::invalidate ( )
pure virtual

Implemented in hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >, hpp::constraints::MatrixOfExpressions< eigen::vector3_t, JacobianMatrix >, hpp::constraints::RotationMultiply< RhsValue >, hpp::constraints::ScalarMultiply< RhsValue >, hpp::constraints::Sum< LhsValue, RhsValue >, hpp::constraints::Difference< LhsValue, RhsValue >, hpp::constraints::ScalarProduct< LhsValue, RhsValue >, hpp::constraints::CrossProduct< LhsValue, RhsValue >, hpp::constraints::CalculusBase< T, ValueType, JacobianType, CrossType >, hpp::constraints::CalculusBase< MatrixOfExpressions< ValueType, JacobianType >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > >, hpp::constraints::CalculusBase< JointFrame, Eigen::Matrix< value_type, 6, 1 >, Eigen::Matrix< value_type, 6, Eigen::Dynamic > >, hpp::constraints::CalculusBase< Difference< LhsValue, RhsValue > >, hpp::constraints::CalculusBase< VectorInJoint >, hpp::constraints::CalculusBase< ScalarProduct< LhsValue, RhsValue >, value_type, RowJacobianMatrix >, hpp::constraints::CalculusBase< Point, vector3_t, JacobianMatrix >, hpp::constraints::CalculusBase< Sum< LhsValue, RhsValue > >, hpp::constraints::CalculusBase< ScalarMultiply< RhsValue > >, hpp::constraints::CalculusBase< MatrixOfExpressions< eigen::vector3_t, JacobianMatrix >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > >, hpp::constraints::CalculusBase< PointInJoint >, hpp::constraints::CalculusBase< RotationMultiply< RhsValue > >, hpp::constraints::CalculusBase< CrossProduct< LhsValue, RhsValue > >, and hpp::constraints::CalculusBase< PointCom, vector3_t, ComJacobian_t >.

template<typename ValueType, typename JacobianType>
virtual const JacobianType& hpp::constraints::CalculusBaseAbstract< ValueType, JacobianType >::jacobian ( ) const
pure virtual
template<typename ValueType, typename JacobianType>
virtual const ValueType& hpp::constraints::CalculusBaseAbstract< ValueType, JacobianType >::value ( ) const
pure virtual