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Public Types | Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
hpp::manipulation::steeringMethod::EdgeFunction Class Reference

Compute the difference between the value of the function in two points. More...

Inheritance diagram for hpp::manipulation::steeringMethod::EdgeFunction:
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Collaboration diagram for hpp::manipulation::steeringMethod::EdgeFunction:
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Public Types

typedef boost::shared_ptr
< EdgeFunction
Ptr_t
 

Public Member Functions

 EdgeFunction (const DifferentiableFunctionPtr_t &inner, const size_type &nArgs, const size_type &nDers, const segment_t &lInArgs, const segment_t &lInDers, const segment_t &rInArgs, const segment_t &rInDers)
 

Protected Member Functions

void impl_compute (LiegroupElement &y, vectorIn_t arg) const
 
void impl_jacobian (matrixOut_t J, vectorIn_t arg) const
 
std::ostream & print (std::ostream &os) const
 

Protected Attributes

DifferentiableFunctionPtr_t inner_
 
const segment_t lsa_
 
const segment_t lsd_
 
const segment_t rsa_
 
const segment_t rsd_
 
LiegroupElement l_
 
LiegroupElement r_
 

Detailed Description

Compute the difference between the value of the function in two points.

i.e.: $ f (q_0, ... , q_n) = f_{inner} (q_{left}) - f_{inner} (q_{right}) $

Member Typedef Documentation

Constructor & Destructor Documentation

hpp::manipulation::steeringMethod::EdgeFunction::EdgeFunction ( const DifferentiableFunctionPtr_t inner,
const size_type nArgs,
const size_type nDers,
const segment_t lInArgs,
const segment_t lInDers,
const segment_t rInArgs,
const segment_t rInDers 
)
inline

Member Function Documentation

void hpp::manipulation::steeringMethod::EdgeFunction::impl_compute ( LiegroupElement y,
vectorIn_t  arg 
) const
inlineprotected
void hpp::manipulation::steeringMethod::EdgeFunction::impl_jacobian ( matrixOut_t  J,
vectorIn_t  arg 
) const
inlineprotected
std::ostream& hpp::manipulation::steeringMethod::EdgeFunction::print ( std::ostream &  os) const
inlineprotected

Member Data Documentation

DifferentiableFunctionPtr_t hpp::manipulation::steeringMethod::EdgeFunction::inner_
protected
LiegroupElement hpp::manipulation::steeringMethod::EdgeFunction::l_
mutableprotected
const segment_t hpp::manipulation::steeringMethod::EdgeFunction::lsa_
protected
const segment_t hpp::manipulation::steeringMethod::EdgeFunction::lsd_
protected
LiegroupElement hpp::manipulation::steeringMethod::EdgeFunction::r_
mutableprotected
const segment_t hpp::manipulation::steeringMethod::EdgeFunction::rsa_
protected
const segment_t hpp::manipulation::steeringMethod::EdgeFunction::rsd_
protected