Main abstract class. More...
#include <hpp/constraints/tools.hh>
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_ |
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:
hpp::constraints::CalculusBase< T >::CalculusBase | ( | ) | [inline] |
void hpp::constraints::CalculusBase< T >::computeCrossValue | ( | ) | [inline] |
const CrossMatrix& hpp::constraints::CalculusBase< T >::cross | ( | ) | const [inline] |
const JacobianMatrix& hpp::constraints::CalculusBase< T >::jacobian | ( | ) | const [inline, virtual] |
Implements hpp::constraints::CalculusBaseAbstract.
Referenced by hpp::constraints::Point::Point().
ScalarMultiply< T > hpp::constraints::CalculusBase< T >::operator* | ( | const value_type & | scalar | ) | const [inline] |
Sum< T, RhsType > hpp::constraints::CalculusBase< T >::operator+ | ( | const RhsType & | rhs | ) | const [inline] |
Difference< T, RhsType > hpp::constraints::CalculusBase< T >::operator- | ( | const RhsType & | rhs | ) | const [inline] |
CrossProduct< T, RhsType > hpp::constraints::CalculusBase< T >::operator^ | ( | const RhsType & | rhs | ) | const [inline] |
const eigen::vector3_t& hpp::constraints::CalculusBase< T >::value | ( | ) | const [inline, virtual] |
Implements hpp::constraints::CalculusBaseAbstract.
Referenced by hpp::constraints::Point::Point().
CrossMatrix hpp::constraints::CalculusBase< T >::cross_ [protected] |
JacobianMatrix hpp::constraints::CalculusBase< T >::jacobian_ [protected] |
eigen::vector3_t hpp::constraints::CalculusBase< T >::value_ [protected] |