17 #ifndef HPP_CONSTRAINTS_AFFINE_FUNCTION_HH 18 # define HPP_CONSTRAINTS_AFFINE_FUNCTION_HH 26 namespace constraints {
73 (
const matrixIn_t& J,
const std::string name =
"LinearFunction")
80 const std::string name =
"LinearFunction")
86 const std::string name =
"LinearFunction")
89 J_ (J), b_ (
vector_t::Zero(J.rows()))
95 const std::string name =
"LinearFunction")
107 y.vector ().noalias() = J_ * x + b_;
117 assert(J_.rows() == b_.rows());
118 activeParameters_ = (J_.array() != 0).colwise().any();
119 activeDerivativeParameters_ = activeParameters_;
139 const size_type& sizeInDer,
const std::string name=
"ConstantFunction")
146 const size_type& sizeInDer,
const std::string name=
"ConstantFunction")
155 const std::string name =
"ConstantFunction") :
157 (constant.rows()), name),
158 c_ (constant, outputSpace())
164 const std::string name =
"ConstantFunction") :
186 #endif // HPP_CONSTRAINTS_AFFINE_FUNCTION_HH pinocchio::vector_t vector_t
Definition: fwd.hh:47
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:48
Identity(const LiegroupSpacePtr_t space, const std::string &name)
Definition: affine-function.hh:45
void impl_compute(LiegroupElementRef y, vectorIn_t arg) const
User implementation of function evaluation.
Definition: affine-function.hh:49
Definition: active-set-differentiable-function.hh:24
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:57
Eigen::Ref< const matrix_t > matrixIn_t
Definition: fwd.hh:45
void impl_jacobian(matrixOut_t J, vectorIn_t) const
Definition: affine-function.hh:172
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:53
ConstantFunction(const vector_t &constant, const size_type &sizeIn, const size_type &sizeInDer, const std::string name="ConstantFunction")
Definition: affine-function.hh:152
Definition: affine-function.hh:68
pinocchio::matrix_t matrix_t
Definition: fwd.hh:44
static IdentityPtr_t create(const LiegroupSpacePtr_t space, const std::string &name)
Definition: affine-function.hh:39
pinocchio::LiegroupSpace LiegroupSpace
Definition: fwd.hh:56
assert(d.lhs()._blocks()==d.rhs()._blocks())
shared_ptr< ConstantFunction > ConstantFunctionPtr_t
Definition: fwd.hh:131
Definition: differentiable-function.hh:52
shared_ptr< Identity > IdentityPtr_t
Definition: fwd.hh:129
Definition: affine-function.hh:133
void impl_jacobian(matrixOut_t J, vectorIn_t) const
Definition: affine-function.hh:54
const LiegroupElement c_
Definition: affine-function.hh:174
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:54
pinocchio::size_type size_type
Definition: fwd.hh:36
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:46
void impl_compute(LiegroupElementRef r, vectorIn_t) const
User implementation of function evaluation.
Definition: affine-function.hh:170
AffineFunction(const matrixIn_t &J, const std::string name="LinearFunction")
Definition: affine-function.hh:85
shared_ptr< AffineFunction > AffineFunctionPtr_t
Definition: fwd.hh:130
AffineFunction(const matrixIn_t &J, const vectorIn_t &b, const std::string name="LinearFunction")
Definition: affine-function.hh:94
ConstantFunction(const LiegroupElement &element, const size_type &sizeIn, const size_type &sizeInDer, const std::string name="ConstantFunction")
Definition: affine-function.hh:161
Definition: affine-function.hh:35