Apply the constraint on a subspace of the input space. More...
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_ |
Apply the constraint on a subspace of the input space.
i.e.:
typedef boost::shared_ptr<StateFunction> hpp::manipulation::steeringMethod::StateFunction::Ptr_t |
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