hpp-constraints: hpp::constraints::ImplicitConstraintSet Class Reference

hpp-constraints 9.0.2 Definition of basic geometric constraints for motion planning

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Public Types | Public Member Functions | Static Public Member Functions | Friends | List of all members
hpp::constraints::ImplicitConstraintSet Class Reference
Constraints

`#include <hpp/constraints/implicit-constraint-set.hh>`

Inheritance diagram for hpp::constraints::ImplicitConstraintSet:
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Collaboration diagram for hpp::constraints::ImplicitConstraintSet:
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## Public Types
typedef std::vector< ImplicitPtr_t > | Implicits_t

## Public Member Functions
virtual | ~ImplicitConstraintSet ()
std::ostream & | print (std::ostream &os) const
| ImplicitConstraintSet (const std::string &name)
| ImplicitConstraintSet ()
| ImplicitConstraintSet (const ImplicitConstraintSet &o)
Function stack management
void | add (const ImplicitPtr_t &constraint)
const Implicits_t & | constraints () const
| Get constraints.
void | merge (const ImplicitConstraintSetPtr_t &other)
| The output columns selection of other is not taken into account.
Public Member Functions inherited from hpp::constraints::Implicit
bool | operator== (const Implicit &other) const
| Operator equality.
Implicit & | operator= (const Implicit &other)
| Operator assignation.
virtual ImplicitPtr_t | copy () const
| Copy object and return shared pointer to copy.
virtual | ~Implicit ()
const ComparisonTypes_t & | comparisonType () const
| Return the ComparisonType.
void | comparisonType (const ComparisonTypes_t &comp)
| Set the comparison type.
const segments_t & | activeRows () const
bool | checkAllRowsActive () const
| Check if all rows are active (no inactive rows)
const Eigen::RowBlockIndices & | equalityIndices () const
| Get indices of constraint coordinates that are equality.
void | setInactiveRowsToZero (vectorOut_t error) const
DifferentiableFunction & | function () const
| Return a reference to function .
const DifferentiableFunctionPtr_t & | functionPtr () const
| Return a reference to function .
virtual std::pair< JointConstPtr_t, JointConstPtr_t > | doesConstrainRelPoseBetween (DeviceConstPtr_t robot) const
void | rightHandSideFromConfig (ConfigurationIn_t config, LiegroupElementRef rhs)
bool | checkRightHandSide (LiegroupElementConstRef rhs) const
size_type | parameterSize () const
size_type | rightHandSideSize () const
void | rightHandSideFunction (const DifferentiableFunctionPtr_t &rhsF)
const DifferentiableFunctionPtr_t & | rightHandSideFunction () const
vectorIn_t | rightHandSideAt (const value_type &s)

## Static Public Member Functions
static ImplicitConstraintSetPtr_t | create (const std::string &name)
Static Public Member Functions inherited from hpp::constraints::Implicit
static ImplicitPtr_t | create (const DifferentiableFunctionPtr_t &func, ComparisonTypes_t comp, std::vector< bool > mask=std::vector< bool >())
static ImplicitPtr_t | createCopy (const ImplicitPtr_t &other)
| Create a copy and return shared pointer.

## Friends
class | solver::HierarchicalIterative

## Additional Inherited Members
Protected Member Functions inherited from hpp::constraints::Implicit
| Implicit (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp, std::vector< bool > mask)
| Implicit (const Implicit &other)
| Copy constructor.
virtual bool | isEqual (const Implicit &other, bool swapAndTest) const
void | init (const ImplicitWkPtr_t &weak)
| Implicit ()

## Detailed Description

Set of implicit constraints

This class also handles selection of cols of the output matrix.

## Member Typedef Documentation

## ◆ Implicits_t

typedef std::vector<ImplicitPtr_t> hpp::constraints::ImplicitConstraintSet::Implicits_t

## Constructor & Destructor Documentation

## ◆ ~ImplicitConstraintSet()

virtual hpp::constraints::ImplicitConstraintSet::~ImplicitConstraintSet | ( |  | ) |
| inline virtual

## ◆ ImplicitConstraintSet() [1/3]

hpp::constraints::ImplicitConstraintSet::ImplicitConstraintSet | ( | const std::string & | name | ) |
| inline

Constructor

Parameters

  name | the name of the constraints,

## ◆ ImplicitConstraintSet() [2/3]

hpp::constraints::ImplicitConstraintSet::ImplicitConstraintSet | ( |  | ) |
| inline

## ◆ ImplicitConstraintSet() [3/3]

hpp::constraints::ImplicitConstraintSet::ImplicitConstraintSet | ( | const ImplicitConstraintSet & | o | ) |
| inline

## Member Function Documentation

## ◆ add()

void hpp::constraints::ImplicitConstraintSet::add | ( | const ImplicitPtr_t & | constraint | ) |
| inline

## ◆ constraints()

const Implicits_t & hpp::constraints::ImplicitConstraintSet::constraints | ( |  | ) | const
| inline

Get constraints.

## ◆ create()

static ImplicitConstraintSetPtr_t hpp::constraints::ImplicitConstraintSet::create | ( | const std::string & | name | ) |
| inline static

Return a shared pointer to a new instance

Parameters

  name | the name of the constraints,

## ◆ merge()

void hpp::constraints::ImplicitConstraintSet::merge | ( | const ImplicitConstraintSetPtr_t & | other | ) |
| inline

The output columns selection of other is not taken into account.

## ◆ print()

std::ostream & hpp::constraints::ImplicitConstraintSet::print | ( | std::ostream & | os | ) | const
| inline

## Friends And Related Symbol Documentation

## ◆ solver::HierarchicalIterative

friend class solver::HierarchicalIterative
| friend

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

- include/hpp/constraints/implicit-constraint-set.hh