With the same notation as in Equation, this class represents equation: More...
#include <hpp/core/numerical-constraint.hh>
Public Member Functions | |
void | rightHandSideFromConfig (ConfigurationIn_t config) |
DifferentiableFunction & | function () const |
Return a reference to the inner function. | |
const DifferentiableFunctionPtr_t & | functionPtr () const |
Return a reference to the inner function. | |
vector_t & | value () |
Return a reference to the value. | |
matrix_t & | jacobian () |
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. |
With the same notation as in Equation, this class represents equation:
hpp::core::NumericalConstraint::NumericalConstraint | ( | const DifferentiableFunctionPtr_t & | function, |
ComparisonTypePtr_t | comp = ComparisonType::createDefault() |
||
) | [protected] |
Constructor.
function | the differentiable function |
hpp::core::NumericalConstraint::NumericalConstraint | ( | const DifferentiableFunctionPtr_t & | function, |
ComparisonTypePtr_t | comp, | ||
vectorIn_t | rhs | ||
) | [protected] |
Constructor.
function | the differentiable function |
rhs | the right hand side of this equation |
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.
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.
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] |
Implements hpp::core::Equation.
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.