hpp-python 6.1.0
python bindings for HPP, based on boost python
Public Types | Public Member Functions | Static Public Member Functions | List of all members
pyhpp::constraints::DFWrapper Struct Reference
Inheritance diagram for pyhpp::constraints::DFWrapper:
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Collaboration diagram for pyhpp::constraints::DFWrapper:
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Public Types

typedef hpp::shared_ptr< DFWrapper > Ptr_t
 

Public Member Functions

 DFWrapper (size_type sizeInput, size_type sizeInputDerivative, size_type sizeOutput, std::string name)
 
void impl_compute (LiegroupElementRef result, vectorIn_t argument) const
 
void impl_jacobian (matrixOut_t jacobian, vectorIn_t arg) const
 
- Public Member Functions inherited from hpp::constraints::DifferentiableFunction
virtual ~DifferentiableFunction ()
 
LiegroupElement operator() (vectorIn_t argument) const
 
void value (LiegroupElementRef result, vectorIn_t argument) const
 
void jacobian (matrixOut_t jacobian, vectorIn_t argument) const
 
const ArrayXb & activeParameters () const
 
const ArrayXb & activeDerivativeParameters () const
 
size_type inputSize () const
 
size_type inputDerivativeSize () const
 
LiegroupSpacePtr_t outputSpace () const
 
size_type outputSize () const
 
size_type outputDerivativeSize () const
 
const std::string & name () const
 
virtual std::ostream & print (std::ostream &o) const
 
std::string context () const
 
void context (const std::string &c)
 
void finiteDifferenceForward (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const
 
void finiteDifferenceCentral (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const
 
bool operator== (DifferentiableFunction const &other) const
 
bool operator!= (DifferentiableFunction const &b) const
 
virtual std::pair< JointConstPtr_t, JointConstPtr_t > dependsOnRelPoseBetween (DeviceConstPtr_t) const
 

Static Public Member Functions

static void value_wrap (const DifferentiableFunction &f, LiegroupElement &lge, const Configuration_t &q)
 
static void jacobian_wrap (const DifferentiableFunction &f, matrixOut_t J, const Configuration_t &q)
 
static LiegroupElement py_value (const DifferentiableFunction &f, const Configuration_t &q)
 
static matrix_t py_jacobian (const DifferentiableFunction &f, const Configuration_t &q)
 
- Static Public Member Functions inherited from hpp::constraints::DifferentiableFunction
static DifferentiableFunctionPtr_t extract (DifferentiableFunctionPtr_t original, interval_t interval)
 

Additional Inherited Members

- Protected Member Functions inherited from hpp::constraints::DifferentiableFunction
 DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, size_type sizeOutput, std::string name=std::string())
 
 DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, const LiegroupSpacePtr_t &outputSpace, std::string name=std::string())
 
virtual void impl_compute (LiegroupElementRef result, vectorIn_t argument) const=0
 
virtual void impl_jacobian (matrixOut_t jacobian, vectorIn_t arg) const=0
 
virtual bool isEqual (const DifferentiableFunction &other) const
 
 DifferentiableFunction ()
 
- Protected Attributes inherited from hpp::constraints::DifferentiableFunction
size_type inputSize_
 
size_type inputDerivativeSize_
 
LiegroupSpacePtr_t outputSpace_
 
ArrayXb activeParameters_
 
ArrayXb activeDerivativeParameters_
 

Member Typedef Documentation

◆ Ptr_t

typedef hpp::shared_ptr<DFWrapper> pyhpp::constraints::DFWrapper::Ptr_t

Constructor & Destructor Documentation

◆ DFWrapper()

pyhpp::constraints::DFWrapper::DFWrapper ( size_type  sizeInput,
size_type  sizeInputDerivative,
size_type  sizeOutput,
std::string  name 
)
inline

Member Function Documentation

◆ impl_compute()

void pyhpp::constraints::DFWrapper::impl_compute ( LiegroupElementRef  result,
vectorIn_t  argument 
) const
inlinevirtual

Implements hpp::constraints::DifferentiableFunction.

◆ impl_jacobian()

void pyhpp::constraints::DFWrapper::impl_jacobian ( matrixOut_t  jacobian,
vectorIn_t  arg 
) const
inlinevirtual

Implements hpp::constraints::DifferentiableFunction.

◆ jacobian_wrap()

static void pyhpp::constraints::DFWrapper::jacobian_wrap ( const DifferentiableFunction &  f,
matrixOut_t  J,
const Configuration_t &  q 
)
inlinestatic

◆ py_jacobian()

static matrix_t pyhpp::constraints::DFWrapper::py_jacobian ( const DifferentiableFunction &  f,
const Configuration_t &  q 
)
inlinestatic

◆ py_value()

static LiegroupElement pyhpp::constraints::DFWrapper::py_value ( const DifferentiableFunction &  f,
const Configuration_t &  q 
)
inlinestatic

◆ value_wrap()

static void pyhpp::constraints::DFWrapper::value_wrap ( const DifferentiableFunction &  f,
LiegroupElement &  lge,
const Configuration_t &  q 
)
inlinestatic
The documentation for this struct was generated from the following file: