#include <hpp/constraints/active-set-differentiable-function.hh>
Public Member Functions | |
ActiveSetDifferentiableFunction (const DifferentiableFunctionPtr_t &f, segments_t intervals) | |
const DifferentiableFunction & | function () const |
const DifferentiableFunctionPtr_t & | functionPtr () const |
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virtual | ~DifferentiableFunction () |
LiegroupElement | operator() (vectorIn_t argument) const |
Evaluate the function at a given parameter. More... | |
void | value (LiegroupElement &result, vectorIn_t argument) const |
Evaluate the function at a given parameter. More... | |
void | jacobian (matrixOut_t jacobian, vectorIn_t argument) const |
Computes the jacobian. More... | |
const ArrayXb & | activeParameters () const |
Returns a vector of booleans that indicates whether the corresponding configuration parameter influences this constraints. More... | |
const ArrayXb & | activeDerivativeParameters () const |
Returns a vector of booleans that indicates whether the corresponding velocity parameter influences this constraints. More... | |
size_type | inputSize () const |
Get dimension of input vector. More... | |
size_type | inputDerivativeSize () const |
Get dimension of input derivative vector. More... | |
LiegroupSpacePtr_t | outputSpace () const |
Get output element. More... | |
size_type | outputSize () const |
Get dimension of output vector. More... | |
size_type | outputDerivativeSize () const |
Get dimension of output derivative vector. More... | |
const std::string & | name () const |
Get function name. More... | |
virtual std::ostream & | print (std::ostream &o) const |
Display object in a stream. More... | |
std::string | context () const |
void | context (const std::string &c) |
void | finiteDifferenceForward (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const |
Approximate the jacobian using forward finite difference. More... | |
void | finiteDifferenceCentral (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const |
Approximate the jacobian using forward finite difference. More... | |
Protected Types | |
typedef std::vector< segments_t > | intervalss_t |
Protected Member Functions | |
virtual void | impl_compute (LiegroupElement &result, vectorIn_t argument) const |
User implementation of function evaluation. More... | |
virtual void | impl_jacobian (matrixOut_t jacobian, vectorIn_t arg) const |
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DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, size_type sizeOutput, std::string name=std::string()) | |
Concrete class constructor should call this constructor. More... | |
DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, const LiegroupSpacePtr_t &outputSpace, std::string name=std::string()) | |
Concrete class constructor should call this constructor. More... | |
Protected Attributes | |
DifferentiableFunctionPtr_t | function_ |
segments_t | intervals_ |
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size_type | inputSize_ |
Dimension of input vector. More... | |
size_type | inputDerivativeSize_ |
Dimension of input derivative. More... | |
LiegroupSpacePtr_t | outputSpace_ |
Dimension of output vector. More... | |
ArrayXb | activeParameters_ |
Initialized to true by this class. More... | |
ArrayXb | activeDerivativeParameters_ |
Initialized to true by this class. More... | |
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User implementation of function evaluation.
Implements hpp::constraints::DifferentiableFunction.
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Implements hpp::constraints::DifferentiableFunction.
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