hpp::core::NumericalConstraint Class Reference

With the same notation as in Equation, this class represents equation: More...

#include <hpp/core/numerical-constraint.hh>

Inheritance diagram for hpp::core::NumericalConstraint:
Collaboration diagram for hpp::core::NumericalConstraint:

List of all members.

Public Member Functions

void rightHandSideFromConfig (ConfigurationIn_t config)
DifferentiableFunctionfunction () const
 Return a reference to the inner function.
const DifferentiableFunctionPtr_tfunctionPtr () const
 Return a reference to the inner function.
vector_tvalue ()
 Return a reference to the value.
matrix_tjacobian ()
 Return a reference to the jacobian.

Static Public Member Functions

static NumericalConstraintPtr_t create (const DifferentiableFunctionPtr_t &function, ComparisonTypePtr_t comp=ComparisonType::createDefault())
 Create a shared pointer to a new instance.
static NumericalConstraintPtr_t create (const DifferentiableFunctionPtr_t &function, ComparisonTypePtr_t comp, vectorIn_t rhs)
 Create a shared pointer to a new instance.

Protected Member Functions

 NumericalConstraint (const DifferentiableFunctionPtr_t &function, ComparisonTypePtr_t comp=ComparisonType::createDefault())
 Constructor.
 NumericalConstraint (const DifferentiableFunctionPtr_t &function, ComparisonTypePtr_t comp, vectorIn_t rhs)
 Constructor.

Detailed Description

With the same notation as in Equation, this class represents equation:

  • that cannot be explicitely defined;
  • in which $ f $ is a differentiable function.

Constructor & Destructor Documentation

hpp::core::NumericalConstraint::NumericalConstraint ( const DifferentiableFunctionPtr_t function,
ComparisonTypePtr_t  comp = ComparisonType::createDefault() 
) [protected]

Constructor.

Parameters:
functionthe differentiable function
hpp::core::NumericalConstraint::NumericalConstraint ( const DifferentiableFunctionPtr_t function,
ComparisonTypePtr_t  comp,
vectorIn_t  rhs 
) [protected]

Constructor.

Parameters:
functionthe differentiable function
rhsthe right hand side of this equation

Member Function Documentation

static NumericalConstraintPtr_t hpp::core::NumericalConstraint::create ( const DifferentiableFunctionPtr_t function,
ComparisonTypePtr_t  comp = ComparisonType::createDefault() 
) [static]

Create a shared pointer to a new instance.

See also:
constructors

Referenced by hpp::core::ConfigProjector::addConstraint(), and hpp::core::ConfigProjector::addFunction().

static NumericalConstraintPtr_t hpp::core::NumericalConstraint::create ( const DifferentiableFunctionPtr_t function,
ComparisonTypePtr_t  comp,
vectorIn_t  rhs 
) [static]

Create a shared pointer to a new instance.

See also:
constructors
DifferentiableFunction& hpp::core::NumericalConstraint::function ( ) const [inline]

Return a reference to the inner function.

const DifferentiableFunctionPtr_t& hpp::core::NumericalConstraint::functionPtr ( ) const [inline]

Return a reference to the inner function.

matrix_t& hpp::core::NumericalConstraint::jacobian ( ) [inline]

Return a reference to the jacobian.

This matrix can be used to store the derivative of the function, its size being initialized.

void hpp::core::NumericalConstraint::rightHandSideFromConfig ( ConfigurationIn_t  config) [virtual]
vector_t& hpp::core::NumericalConstraint::value ( ) [inline]

Return a reference to the value.

This vector can be used to store the output of the function, its size being initialized.