Abstract class defining a basic common interface. More...
#include <hpp/constraints/tools.hh>
Public Member Functions | |
virtual const eigen::vector3_t & | value () const =0 |
virtual const JacobianMatrix & | jacobian () const =0 |
virtual void | computeValue ()=0 |
virtual void | computeJacobian ()=0 |
Static Public Member Functions | |
template<typename Type > | |
static boost::shared_ptr< Type > | create (const Type ©) |
Abstract class defining a basic common interface.
The purpose of this class is to allow the user to define an expression without requiring to explicitly write its type. The type will be automatically deduced by the compiler.
// First define a, b and c with basic elements. CalculusPtr_t myExpression_ptr = CalculusBaseAbstract::create (a + b * c)
virtual void hpp::constraints::CalculusBaseAbstract::computeJacobian | ( | ) | [pure virtual] |
Implemented in hpp::constraints::PointCom, hpp::constraints::Point, hpp::constraints::PointInJoint, hpp::constraints::RotationMultiply< RhsValue >, hpp::constraints::RotationMultiply< ECrossU_t >, hpp::constraints::ScalarMultiply< RhsValue >, hpp::constraints::ScalarMultiply< SumPiJPiJ >, hpp::constraints::Sum< LhsValue, RhsValue >, hpp::constraints::Difference< LhsValue, RhsValue >, hpp::constraints::Difference< PointCom, PointInJoint >, hpp::constraints::Difference< PointCom, ScalarMultiply< SumPiJPiJ > >, hpp::constraints::Difference< PointInJoint, PointInJoint >, hpp::constraints::CrossProduct< LhsValue, RhsValue >, and hpp::constraints::CrossProduct< Difference< PointCom, ScalarMultiply< SumPiJPiJ > >, DiffPiJPiJ >.
virtual void hpp::constraints::CalculusBaseAbstract::computeValue | ( | ) | [pure virtual] |
Implemented in hpp::constraints::PointCom, hpp::constraints::Point, hpp::constraints::PointInJoint, hpp::constraints::RotationMultiply< RhsValue >, hpp::constraints::RotationMultiply< ECrossU_t >, hpp::constraints::ScalarMultiply< RhsValue >, hpp::constraints::ScalarMultiply< SumPiJPiJ >, hpp::constraints::Sum< LhsValue, RhsValue >, hpp::constraints::Difference< LhsValue, RhsValue >, hpp::constraints::Difference< PointCom, PointInJoint >, hpp::constraints::Difference< PointCom, ScalarMultiply< SumPiJPiJ > >, hpp::constraints::Difference< PointInJoint, PointInJoint >, hpp::constraints::CrossProduct< LhsValue, RhsValue >, and hpp::constraints::CrossProduct< Difference< PointCom, ScalarMultiply< SumPiJPiJ > >, DiffPiJPiJ >.
static boost::shared_ptr<Type> hpp::constraints::CalculusBaseAbstract::create | ( | const Type & | copy | ) | [inline, static] |
virtual const JacobianMatrix& hpp::constraints::CalculusBaseAbstract::jacobian | ( | ) | const [pure virtual] |
Implemented in hpp::constraints::CalculusBase< T >, hpp::constraints::CalculusBase< Difference< PointInJoint, PointInJoint > >, hpp::constraints::CalculusBase< Difference< LhsValue, RhsValue > >, hpp::constraints::CalculusBase< ScalarMultiply< ECrossU_t > >, hpp::constraints::CalculusBase< Difference< PointCom, ScalarMultiply< SumPiJPiJ > > >, hpp::constraints::CalculusBase< Sum< LhsValue, RhsValue > >, hpp::constraints::CalculusBase< ScalarMultiply< RhsValue > >, hpp::constraints::CalculusBase< Point >, hpp::constraints::CalculusBase< ScalarMultiply< SumPiJPiJ > >, hpp::constraints::CalculusBase< CrossProduct< Difference< PointCom, ScalarMultiply< SumPiJPiJ > >, DiffPiJPiJ > >, hpp::constraints::CalculusBase< Difference< PointCom, PointInJoint > >, hpp::constraints::CalculusBase< PointInJoint >, hpp::constraints::CalculusBase< PointCom >, and hpp::constraints::CalculusBase< CrossProduct< LhsValue, RhsValue > >.
virtual const eigen::vector3_t& hpp::constraints::CalculusBaseAbstract::value | ( | ) | const [pure virtual] |
Implemented in hpp::constraints::CalculusBase< T >, hpp::constraints::CalculusBase< Difference< PointInJoint, PointInJoint > >, hpp::constraints::CalculusBase< Difference< LhsValue, RhsValue > >, hpp::constraints::CalculusBase< ScalarMultiply< ECrossU_t > >, hpp::constraints::CalculusBase< Difference< PointCom, ScalarMultiply< SumPiJPiJ > > >, hpp::constraints::CalculusBase< Sum< LhsValue, RhsValue > >, hpp::constraints::CalculusBase< ScalarMultiply< RhsValue > >, hpp::constraints::CalculusBase< Point >, hpp::constraints::CalculusBase< ScalarMultiply< SumPiJPiJ > >, hpp::constraints::CalculusBase< CrossProduct< Difference< PointCom, ScalarMultiply< SumPiJPiJ > >, DiffPiJPiJ > >, hpp::constraints::CalculusBase< Difference< PointCom, PointInJoint > >, hpp::constraints::CalculusBase< PointInJoint >, hpp::constraints::CalculusBase< PointCom >, and hpp::constraints::CalculusBase< CrossProduct< LhsValue, RhsValue > >.