#include <hpp/rbprm/interpolation/time-dependant.hh>
Set time varying right hand side of a constraint (constraints::Implicit)
This class stores
- an instance of implicit constraint and
- an instance of time varying right hand side (RightHandSideFunctor)
Call to operator () set the right hand side of the constraint to the value at a given time.
- Note
- Parameterization may be normalized between 0 and 1 (see interpolation::funEvaluator for an example).
◆ TimeDependant() [1/2]
hpp::rbprm::interpolation::TimeDependant::TimeDependant |
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const constraints::ImplicitPtr_t & |
eq, |
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const RightHandSideFunctorPtr_t |
rhs |
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) |
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inline |
Constructor
- Parameters
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eq | implicit constraint, |
rhs | time-varying right hand side. |
◆ TimeDependant() [2/2]
hpp::rbprm::interpolation::TimeDependant::TimeDependant |
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const TimeDependant & |
other | ) |
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inline |
◆ operator()()
void hpp::rbprm::interpolation::TimeDependant::operator() |
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const constraints::value_type |
s, |
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pinocchio::ConfigurationOut_t |
conf |
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) |
| const |
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inline |
Set time varying right hand side
- Parameters
-
s | time value in interval [0,1], |
◆ eq_
constraints::ImplicitPtr_t hpp::rbprm::interpolation::TimeDependant::eq_ |
◆ rhsFunc_
The documentation for this struct was generated from the following file: