Differentiable function.
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#include <hpp/constraints/differentiable-function.hh>
◆ ~DifferentiableFunction()
virtual hpp::constraints::DifferentiableFunction::~DifferentiableFunction |
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inlinevirtual |
◆ DifferentiableFunction()
hpp::constraints::DifferentiableFunction::DifferentiableFunction |
( |
size_type |
inputSize, |
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size_type |
inputDerivativeSize, |
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size_type |
outputSize, |
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std::string |
name = std::string () |
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) |
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inlineprotected |
Concrete class constructor should call this constructor.
- Parameters
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inputSize | function arity |
outputSize | result size |
name | function's name |
◆ impl_compute()
virtual void hpp::constraints::DifferentiableFunction::impl_compute |
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vectorOut_t |
result, |
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vectorIn_t |
argument |
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| const |
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protectedpure virtual |
User implementation of function evaluation.
◆ impl_jacobian()
virtual void hpp::constraints::DifferentiableFunction::impl_jacobian |
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matrixOut_t |
jacobian, |
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vectorIn_t |
arg |
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) |
| const |
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protectedpure virtual |
◆ inputDerivativeSize()
size_type hpp::constraints::DifferentiableFunction::inputDerivativeSize |
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const |
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inline |
Get dimension of input derivative vector.
The dimension of configuration vectors might differ from the dimension of velocity vectors since some joints are represented by non minimal size vectors: e.g. quaternion for SO(3)
◆ inputSize()
size_type hpp::constraints::DifferentiableFunction::inputSize |
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const |
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inline |
Get dimension of input vector.
◆ jacobian()
void hpp::constraints::DifferentiableFunction::jacobian |
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matrixOut_t |
jacobian, |
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vectorIn_t |
argument |
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) |
| const |
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inline |
Computes the jacobian.
- Return values
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jacobian | jacobian will be stored in this argument |
- Parameters
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argument | point at which the jacobian will be computed |
◆ name()
const std::string& hpp::constraints::DifferentiableFunction::name |
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const |
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inline |
Get function name.
- Returns
- Function name.
◆ operator()()
void hpp::constraints::DifferentiableFunction::operator() |
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vectorOut_t |
result, |
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vectorIn_t |
argument |
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) |
| const |
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inline |
Evaluate the function at a given parameter.
- Note
- parameters should be of the correct size.
◆ outputSize()
size_type hpp::constraints::DifferentiableFunction::outputSize |
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const |
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inline |
Get dimension of output vector.
◆ print()
virtual std::ostream& hpp::constraints::DifferentiableFunction::print |
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std::ostream & |
o | ) |
const |
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inlinevirtual |