#include <hpp/constraints/convex-shape-contact.hh>
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ConvexShapeContactPtr_t | contactConstraint () const |
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ConvexShapeContactComplementPtr_t | complement () const |
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std::pair< JointConstPtr_t, JointConstPtr_t > | dependsOnRelPoseBetween (DeviceConstPtr_t) const |
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virtual | ~DifferentiableFunction () |
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LiegroupElement | operator() (vectorIn_t argument) const |
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void | value (LiegroupElementRef result, vectorIn_t argument) const |
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void | jacobian (matrixOut_t jacobian, vectorIn_t argument) const |
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const ArrayXb & | activeParameters () const |
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const ArrayXb & | activeDerivativeParameters () const |
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size_type | inputSize () const |
| Get dimension of input vector. More...
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size_type | inputDerivativeSize () const |
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LiegroupSpacePtr_t | outputSpace () const |
| Get output space. More...
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size_type | outputSize () const |
| Get dimension of output vector. More...
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size_type | outputDerivativeSize () const |
| Get dimension of output derivative vector. More...
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const std::string & | name () const |
| Get function name. More...
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virtual std::ostream & | print (std::ostream &o) const |
| Display object in a stream. More...
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std::string | context () const |
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void | context (const std::string &c) |
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void | finiteDifferenceForward (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const |
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void | finiteDifferenceCentral (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const |
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bool | operator== (DifferentiableFunction const &other) const |
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bool | operator!= (DifferentiableFunction const &b) const |
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virtual std::pair< JointConstPtr_t, JointConstPtr_t > | dependsOnRelPoseBetween (DeviceConstPtr_t) const |
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| ConvexShapeContactHold (const std::string &name, DevicePtr_t robot, const JointAndShapes_t &floorSurfaces, const JointAndShapes_t &objectSurfaces) |
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virtual void | impl_compute (LiegroupElementRef result, vectorIn_t argument) const |
| User implementation of function evaluation. More...
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virtual void | impl_jacobian (matrixOut_t jacobian, vectorIn_t arg) const |
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bool | isEqual (const DifferentiableFunction &other) const |
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| DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, size_type sizeOutput, std::string name=std::string()) |
| Concrete class constructor should call this constructor. More...
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| DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, const LiegroupSpacePtr_t &outputSpace, std::string name=std::string()) |
| Concrete class constructor should call this constructor. More...
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virtual void | impl_compute (LiegroupElementRef result, vectorIn_t argument) const =0 |
| User implementation of function evaluation. More...
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virtual void | impl_jacobian (matrixOut_t jacobian, vectorIn_t arg) const =0 |
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virtual bool | isEqual (const DifferentiableFunction &other) const |
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| DifferentiableFunction () |
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Combination of ConvexShapeContact and complement constaints
Create one instance of
and concatenate their values.
◆ ConvexShapeContactHold()
◆ complement()
◆ contactConstraint()
◆ create()
Create instance and return shared pointer
- Parameters
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◆ dependsOnRelPoseBetween()
Return pair of joints the relative pose between which modifies the function value if any
Currently only supports the case when all the joints for floors are the same and all the joints for objects involved are the same
- Returns
- pair of joints whose relative pose determines the value of the contact function, arranged in order of increasing joint index, or a pair of empty shared pointers.
Reimplemented from hpp::constraints::DifferentiableFunction.
◆ impl_compute()
◆ impl_jacobian()
virtual void hpp::constraints::ConvexShapeContactHold::impl_jacobian |
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matrixOut_t |
jacobian, |
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vectorIn_t |
arg |
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protectedvirtual |
◆ isEqual()
The documentation for this class was generated from the following file: