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hpp::manipulation::steeringMethod::StateFunction Class Reference

Apply the constraint on a subspace of the input space. More...

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

typedef boost::shared_ptr
< StateFunction
Ptr_t
 

Public Member Functions

 StateFunction (const DifferentiableFunctionPtr_t &inner, const size_type &nArgs, const size_type &nDers, const segment_t &inArgs, const segment_t &inDers)
 

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 sa_
 
const segment_t sd_
 

Detailed Description

Apply the constraint on a subspace of the input space.

i.e.: $ f (q_0, ... , q_n) = f_{inner} (q_k) $

Member Typedef Documentation

Constructor & Destructor Documentation

hpp::manipulation::steeringMethod::StateFunction::StateFunction ( const DifferentiableFunctionPtr_t inner,
const size_type nArgs,
const size_type nDers,
const segment_t inArgs,
const segment_t inDers 
)
inline

Member Function Documentation

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

Member Data Documentation

DifferentiableFunctionPtr_t hpp::manipulation::steeringMethod::StateFunction::inner_
protected
const segment_t hpp::manipulation::steeringMethod::StateFunction::sa_
protected
const segment_t hpp::manipulation::steeringMethod::StateFunction::sd_
protected