hpp::core::Equation Class Reference

This class represents an equation with the following format $ f(q) = \textbf{or} \le rhs $. More...

#include <hpp/core/equation.hh>

Inheritance diagram for hpp::core::Equation:

List of all members.

Public Member Functions

virtual void rightHandSideFromConfig (ConfigurationIn_t config)=0
 Set the right hand side from a configuration.
void rightHandSide (vectorIn_t rhs)
 Set the right hand side of the equation.
vectorIn_t rightHandSide () const
 Return the right hand side of the equation.
size_type rhsSize () const
 Return the size of the right hand side constraint.
const ComparisonTypePtr_tcomparisonType () const
 Return the ComparisonType.

Protected Member Functions

 Equation (const ComparisonTypePtr_t &comp, vectorIn_t rhs)
vectorOut_t nonConstRightHandSide ()
 Return the right hand side of the equation.

Detailed Description

This class represents an equation with the following format $ f(q) = \textbf{or} \le rhs $.


Constructor & Destructor Documentation

hpp::core::Equation::Equation ( const ComparisonTypePtr_t comp,
vectorIn_t  rhs 
) [protected]

Member Function Documentation

const ComparisonTypePtr_t& hpp::core::Equation::comparisonType ( ) const

Return the ComparisonType.

vectorOut_t hpp::core::Equation::nonConstRightHandSide ( ) [protected]

Return the right hand side of the equation.

size_type hpp::core::Equation::rhsSize ( ) const

Return the size of the right hand side constraint.

void hpp::core::Equation::rightHandSide ( vectorIn_t  rhs)

Set the right hand side of the equation.

Parameters:
rhsthe right hand side.
vectorIn_t hpp::core::Equation::rightHandSide ( ) const

Return the right hand side of the equation.

virtual void hpp::core::Equation::rightHandSideFromConfig ( ConfigurationIn_t  config) [pure virtual]

Set the right hand side from a configuration.

in such a way that the configuration satisfies the numerical constraints

Parameters:
configthe input configuration.
Warning:
Only values of the right hand side corresponding to "equality constraints" are set. As a result, the input configuration may not satisfy the other constraints. The rationale is the following. Equality constraints define a foliation of the configuration space. Leaves of the foliation are defined by the value of the right hand side of the equality constraints. This method is mainly used in manipulation planning to retrieve the leaf a configuration lies on.

Implemented in hpp::core::LockedJoint, and hpp::core::NumericalConstraint.