Main abstract class. More...
#include <hpp/constraints/tools.hh>
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CalculusBase () | |
const eigen::vector3_t & | value () const |
const JacobianMatrix & | jacobian () const |
const CrossMatrix & | cross () const |
void | computeCrossValue () |
template<typename RhsType > | |
CrossProduct< T, RhsType > | operator^ (const RhsType &rhs) const |
template<typename RhsType > | |
Difference< T, RhsType > | operator- (const RhsType &rhs) const |
template<typename RhsType > | |
Sum< T, RhsType > | operator+ (const RhsType &rhs) const |
ScalarMultiply< T > | operator* (const value_type &scalar) const |
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virtual void | computeValue ()=0 |
virtual void | computeJacobian ()=0 |
Protected Attributes | |
eigen::vector3_t | value_ |
JacobianMatrix | jacobian_ |
CrossMatrix | cross_ |
Additional Inherited Members | |
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template<typename Type > | |
static boost::shared_ptr< Type > | create (const Type ©) |
Main abstract class.
The framework is using CRTP to virtual function calls overload. Keep in mind, so far, no mathematical simplification is done on the expression you provide. It means that you may have a more efficient expression by calculating and simplifying the jacobian yourself. These classes provide:
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Implements hpp::constraints::CalculusBaseAbstract.
Referenced by hpp::constraints::Point::Point().
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Implements hpp::constraints::CalculusBaseAbstract.
Referenced by hpp::constraints::Point::Point().
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