hpp-rbprm 4.14.0
Implementation of RB-PRM planner using hpp.
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hpp::rbprm::interpolation::funEvaluator< Reference, fun > Struct Template Reference

#include <hpp/rbprm/interpolation/interpolation-constraints.hh>

Inheritance diagram for hpp::rbprm::interpolation::funEvaluator< Reference, fun >:
Collaboration diagram for hpp::rbprm::interpolation::funEvaluator< Reference, fun >:

Public Member Functions

 funEvaluator (const Reference &ref, const fun &method)
 
const std::pair< core::value_type, core::value_type > timeRange ()
 Time range of reference path of right hand side. More...
 
void operator() (constraints::ImplicitPtr_t eq, const constraints::value_type &normalized_input, pinocchio::ConfigurationOut_t) const
 
virtual void operator() (constraints::ImplicitPtr_t eq, const constraints::value_type &input, pinocchio::ConfigurationOut_t conf) const =0
 

Public Attributes

const Reference ref_
 
const fun method_
 
const std::size_t dim_
 

Detailed Description

template<typename Reference, typename fun>
struct hpp::rbprm::interpolation::funEvaluator< Reference, fun >

Time varying right hand side of constraint

Template Parameters
Referencetype of shared pointer to Path.
methodmodifying the right hand side

This class compute the right hand side of a constraints::Implicit instance as the composition of a mapping called method with a mapping from interval [0,1] to a vector space called reference.

Constructor & Destructor Documentation

◆ funEvaluator()

template<typename Reference , typename fun >
hpp::rbprm::interpolation::funEvaluator< Reference, fun >::funEvaluator ( const Reference &  ref,
const fun &  method 
)
inline

Constructor

Parameters
refReference path of right hand side.
methodmapping from the output space of ref to a vector space of dimension the right hand side of the constraint.

Member Function Documentation

◆ operator()()

template<typename Reference , typename fun >
void hpp::rbprm::interpolation::funEvaluator< Reference, fun >::operator() ( constraints::ImplicitPtr_t  eq,
const constraints::value_type &  normalized_input,
pinocchio::ConfigurationOut_t   
) const
inlinevirtual

Compute and set right hand side of constraint

Parameters
eqImplicit constraint,
normalized_inputreal valued parameter between 0 and 1, mapped in an affine way to a value in the definition interval of the reference path.

If $u\in[0,1]$ is the normalized input and $[a,b]$ the definition interval of $\mathbf{ref}$, then

\[
\mathbf{rhs} = \mathbf{M} \left(\mathbf{ref} (a + u (b-a))\right)
\]

where $\mathbf{M}$ is the method provided to the constructor.

Implements hpp::rbprm::interpolation::RightHandSideFunctor.

◆ timeRange()

template<typename Reference , typename fun >
const std::pair< core::value_type, core::value_type > hpp::rbprm::interpolation::funEvaluator< Reference, fun >::timeRange ( )
inline

Time range of reference path of right hand side.

Member Data Documentation

◆ dim_

template<typename Reference , typename fun >
const std::size_t hpp::rbprm::interpolation::funEvaluator< Reference, fun >::dim_

◆ method_

template<typename Reference , typename fun >
const fun hpp::rbprm::interpolation::funEvaluator< Reference, fun >::method_

◆ ref_

template<typename Reference , typename fun >
const Reference hpp::rbprm::interpolation::funEvaluator< Reference, fun >::ref_

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