hpp::constraints::PointCom Class Reference

Basic expression representing a COM. More...

#include <hpp/constraints/symbolic-calculus.hh>

Inheritance diagram for hpp::constraints::PointCom:

Collaboration diagram for hpp::constraints::PointCom:

Public Types
typedef CalculusBase< PointCom, vector3_t, ComJacobian_t >	Parent_t
Public Types inherited from hpp::constraints::CalculusBaseAbstract< vector3_t, ComJacobian_t >
typedef vector3_t	ValueType_t
typedef ComJacobian_t	JacobianType_t

Public Member Functions
	PointCom ()
	PointCom (const Parent_t &other)
	PointCom (const CenterOfMassComputationPtr_t &comc)
const vector3_t &	value () const
const ComJacobian_t &	jacobian () const
const CenterOfMassComputationPtr_t &	centerOfMassComputation () const
void	impl_value (const ConfigurationIn_t)
void	impl_jacobian (const ConfigurationIn_t)
Public Member Functions inherited from hpp::constraints::CalculusBase< PointCom, vector3_t, ComJacobian_t >
	CalculusBase ()
	CalculusBase (const vector3_t &value, const ComJacobian_t &jacobian)
	CalculusBase (const CalculusBase &o)
const vector3_t &	value () const
const ComJacobian_t &	jacobian () const
void	computeValue (const ConfigurationIn_t arg)
void	computeJacobian (const ConfigurationIn_t arg)
void	invalidate ()
const CrossMatrix &	cross () const
void	computeCrossValue (const ConfigurationIn_t arg)
virtual const vector3_t &	value () const=0
virtual const ComJacobian_t &	jacobian () const=0
virtual void	computeValue (const ConfigurationIn_t arg)=0
virtual void	computeJacobian (const ConfigurationIn_t arg)=0
virtual void	invalidate ()=0

Protected Attributes
CenterOfMassComputationPtr_t	comc_
Protected Attributes inherited from hpp::constraints::CalculusBase< PointCom, vector3_t, ComJacobian_t >
vector3_t	value_
ComJacobian_t	jacobian_
CrossMatrix	cross_
bool	vValid_
bool	jValid_
bool	cValid_

Additional Inherited Members
Protected Member Functions inherited from hpp::constraints::CalculusBase< PointCom, vector3_t, ComJacobian_t >
void	init (const typename Traits< PointCom >::Ptr_t &ptr)

Detailed Description

Basic expression representing a COM.

Member Typedef Documentation

Parent_t

typedef CalculusBase<PointCom, vector3_t, ComJacobian_t> hpp::constraints::PointCom::Parent_t

Constructor & Destructor Documentation

PointCom() [1/3]

hpp::constraints::PointCom::PointCom ( )

inline

PointCom() [2/3]

hpp::constraints::PointCom::PointCom ( const Parent_t &  other )

inline

PointCom() [3/3]

hpp::constraints::PointCom::PointCom ( const CenterOfMassComputationPtr_t &  comc )

inline

Member Function Documentation

centerOfMassComputation()

const CenterOfMassComputationPtr_t & hpp::constraints::PointCom::centerOfMassComputation ( ) const

inline

impl_jacobian()

void hpp::constraints::PointCom::impl_jacobian ( const  ConfigurationIn_t )

inline

impl_value()

void hpp::constraints::PointCom::impl_value ( const  ConfigurationIn_t )

inline

jacobian()

const ComJacobian_t & hpp::constraints::PointCom::jacobian ( ) const

inlinevirtual

Implements hpp::constraints::CalculusBaseAbstract< vector3_t, ComJacobian_t >.

value()

const vector3_t & hpp::constraints::PointCom::value ( ) const

inlinevirtual

Implements hpp::constraints::CalculusBaseAbstract< vector3_t, ComJacobian_t >.

Member Data Documentation

comc_

CenterOfMassComputationPtr_t hpp::constraints::PointCom::comc_

protected

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The documentation for this class was generated from the following file:

• include/hpp/constraints/symbolic-calculus.hh