hpp-constraints: hpp::constraints::DifferentiableFunctionSet 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 | Protected Member Functions | List of all members
hpp::constraints::DifferentiableFunctionSet Class Reference
Constraints

`#include <hpp/constraints/differentiable-function-set.hh>`

Inheritance diagram for hpp::constraints::DifferentiableFunctionSet:
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Collaboration diagram for hpp::constraints::DifferentiableFunctionSet:
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## Public Types
typedef std::vector< DifferentiableFunctionPtr_t > | Functions_t

## Public Member Functions
virtual | ~DifferentiableFunctionSet ()
std::ostream & | print (std::ostream &os) const
| Display object in a stream.
| DifferentiableFunctionSet (const std::string &name)
| DifferentiableFunctionSet ()
Function stack management
const Functions_t & | functions () const
| Get the stack of functions.
void | add (const DifferentiableFunctionPtr_t &func)
void | merge (const DifferentiableFunctionSetPtr_t &other)
| The output columns selection of other is not taken into account.
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
| Get dimension of input vector.
size_type | inputDerivativeSize () const
LiegroupSpacePtr_t | outputSpace () const
| Get output space.
size_type | outputSize () const
| Get dimension of output vector.
size_type | outputDerivativeSize () const
| Get dimension of output derivative vector.
const std::string & | name () const
| Get function name.
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 DifferentiableFunctionSetPtr_t | create (const std::string &name)
Static Public Member Functions inherited from hpp::constraints::DifferentiableFunction
static DifferentiableFunctionPtr_t | extract (DifferentiableFunctionPtr_t original, interval_t interval)

## Protected Member Functions
void | impl_compute (LiegroupElementRef result, ConfigurationIn_t arg) const
void | impl_jacobian (matrixOut_t jacobian, ConfigurationIn_t arg) const
bool | isEqual (const DifferentiableFunction &other) const
Protected Member Functions inherited from hpp::constraints::DifferentiableFunction
| DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, size_type sizeOutput, std::string name=std::string())
| Concrete class constructor should call this constructor.
| DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, const LiegroupSpacePtr_t &outputSpace, std::string name=std::string())
| Concrete class constructor should call this constructor.
virtual void | impl_compute (LiegroupElementRef result, vectorIn_t argument) const =0
| User implementation of function evaluation.
virtual void | impl_jacobian (matrixOut_t jacobian, vectorIn_t arg) const =0
| DifferentiableFunction ()

## Additional Inherited Members
Protected Attributes inherited from hpp::constraints::DifferentiableFunction
size_type | inputSize_
| Dimension of input vector.
size_type | inputDerivativeSize_
| Dimension of input derivative.
LiegroupSpacePtr_t | outputSpace_
| Dimension of output vector.
ArrayXb | activeParameters_
ArrayXb | activeDerivativeParameters_

## Detailed Description

Set of differentiable functions

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

## Member Typedef Documentation

## ◆ Functions_t

typedef std::vector<DifferentiableFunctionPtr_t> hpp::constraints::DifferentiableFunctionSet::Functions_t

## Constructor & Destructor Documentation

## ◆ ~DifferentiableFunctionSet()

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

## ◆ DifferentiableFunctionSet() [1/2]

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

Constructor

Parameters

  name | the name of the constraints,

## ◆ DifferentiableFunctionSet() [2/2]

hpp::constraints::DifferentiableFunctionSet::DifferentiableFunctionSet | ( |  | ) |
| inline

## Member Function Documentation

## ◆ add()

void hpp::constraints::DifferentiableFunctionSet::add | ( | const DifferentiableFunctionPtr_t & | func | ) |
| inline

## ◆ create()

static DifferentiableFunctionSetPtr_t hpp::constraints::DifferentiableFunctionSet::create | ( | const std::string & | name | ) |
| inline static

Return a shared pointer to a new instance

Parameters

  name | the name of the constraints,

## ◆ functions()

const Functions_t & hpp::constraints::DifferentiableFunctionSet::functions | ( |  | ) | const
| inline

Get the stack of functions.

## ◆ impl_compute()

void hpp::constraints::DifferentiableFunctionSet::impl_compute | ( | LiegroupElementRef | result,
|  | ConfigurationIn_t | arg ) const
| inline protected

## ◆ impl_jacobian()

void hpp::constraints::DifferentiableFunctionSet::impl_jacobian | ( | matrixOut_t | jacobian,
|  | ConfigurationIn_t | arg ) const
| inline protected

## ◆ isEqual()

bool hpp::constraints::DifferentiableFunctionSet::isEqual | ( | const DifferentiableFunction & | other | ) | const
| inline protected virtual

Reimplemented from hpp::constraints::DifferentiableFunction.

## ◆ merge()

void hpp::constraints::DifferentiableFunctionSet::merge | ( | const DifferentiableFunctionSetPtr_t & | other | ) |
| inline

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

## ◆ print()

std::ostream & hpp::constraints::DifferentiableFunctionSet::print | ( | std::ostream & | o | ) | const
| virtual

Display object in a stream.

Reimplemented from hpp::constraints::DifferentiableFunction.

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

- include/hpp/constraints/differentiable-function-set.hh