hpp::constraints::CalculusBase< T > Class Template Reference

Main abstract class. More...

#include <hpp/constraints/tools.hh>

Inheritance diagram for hpp::constraints::CalculusBase< T >:

Collaboration diagram for hpp::constraints::CalculusBase< T >:

List of all members.

Public Member Functions
	CalculusBase ()
const eigen::vector3_t &	value () const
const JacobianMatrix &	jacobian () const
const CrossMatrix &	cross () const
void	computeCrossValue ()
template<typename RhsType >
CrossProduct< T, RhsType >	operator^ (const RhsType &rhs) const
template<typename RhsType >
Difference< T, RhsType >	operator- (const RhsType &rhs) const
template<typename RhsType >
Sum< T, RhsType >	operator+ (const RhsType &rhs) const
ScalarMultiply< T >	operator* (const value_type &scalar) const
Protected Attributes
eigen::vector3_t	value_
JacobianMatrix	jacobian_
CrossMatrix	cross_

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Detailed Description

template<class T>
class hpp::constraints::CalculusBase< T >

Main abstract class.

The framework is using CRTP to virtual function calls overload. Keep in mind, so far, no mathematical simplification is done on the expression you provide. It means that you may have a more efficient expression by calculating and simplifying the jacobian yourself. These classes provide:

• a fast way of defining new constraints,
• a robust way of calculation of jacobians - hand calculation error proof
• a fast way to check the results of your calculations.

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Constructor & Destructor Documentation

template<class T>

hpp::constraints::CalculusBase< T >::CalculusBase

(

)

[inline]

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Member Function Documentation

template<class T>

void hpp::constraints::CalculusBase< T >::computeCrossValue

(

)

[inline]

template<class T>

const CrossMatrix& hpp::constraints::CalculusBase< T >::cross

(

)

const [inline]

template<class T>

const JacobianMatrix& hpp::constraints::CalculusBase< T >::jacobian

(

)

const [inline, virtual]

Implements hpp::constraints::CalculusBaseAbstract.

Referenced by hpp::constraints::Point::Point().

template<class T>

ScalarMultiply< T > hpp::constraints::CalculusBase< T >::operator*

(

const value_type &

scalar

)

const [inline]

template<class T>

template<typename RhsType >

Sum< T, RhsType > hpp::constraints::CalculusBase< T >::operator+

(

const RhsType &

rhs

)

const [inline]

template<class T>

template<typename RhsType >

Difference< T, RhsType > hpp::constraints::CalculusBase< T >::operator-

(

const RhsType &

rhs

)

const [inline]

template<class T>

template<typename RhsType >

CrossProduct< T, RhsType > hpp::constraints::CalculusBase< T >::operator^

(

const RhsType &

rhs

)

const [inline]

template<class T>

const eigen::vector3_t& hpp::constraints::CalculusBase< T >::value

(

)

const [inline, virtual]

Implements hpp::constraints::CalculusBaseAbstract.

Referenced by hpp::constraints::Point::Point().

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Member Data Documentation

template<class T>

CrossMatrix hpp::constraints::CalculusBase< T >::cross_ [protected]

Referenced by hpp::constraints::CalculusBase< CrossProduct< LhsValue, RhsValue > >::computeCrossValue(), and hpp::constraints::CalculusBase< CrossProduct< LhsValue, RhsValue > >::cross().

template<class T>

JacobianMatrix hpp::constraints::CalculusBase< T >::jacobian_ [protected]

Referenced by hpp::constraints::CalculusBase< CrossProduct< LhsValue, RhsValue > >::jacobian().

template<class T>

eigen::vector3_t hpp::constraints::CalculusBase< T >::value_ [protected]

Referenced by hpp::constraints::CalculusBase< CrossProduct< LhsValue, RhsValue > >::value().