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

This class represents a foliation of a submanifold of the configuration space. More...

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

Public Member Functions

bool contains (ConfigurationIn_t q) const
 Whether the configuration is the submanifold ${M}$. More...
 
vector_t parameter (ConfigurationIn_t q) const
 Whether the configuration is the submanifold ${M}$. More...
 
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:

Member Function Documentation

void hpp::manipulation::graph::Foliation::condition ( const ConstraintSetPtr_t  c)
ConstraintSetPtr_t hpp::manipulation::graph::Foliation::condition ( ) const
bool hpp::manipulation::graph::Foliation::contains ( ConfigurationIn_t  q) const

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

vector_t hpp::manipulation::graph::Foliation::parameter ( ConfigurationIn_t  q) const

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

void hpp::manipulation::graph::Foliation::parametrizer ( const ConstraintSetPtr_t  p)
ConstraintSetPtr_t hpp::manipulation::graph::Foliation::parametrizer ( ) const