30 #ifndef HPP_CONSTRAINTS_DIFFERENTIABLE_FUNCTION_HH 31 #define HPP_CONSTRAINTS_DIFFERENTIABLE_FUNCTION_HH 35 #include <hpp/pinocchio/liegroup-element.hh> 36 #include <hpp/util/debug.hh> 37 #include <hpp/util/serialization-fwd.hh> 40 namespace constraints {
71 assert(argument.size() == inputSize());
73 impl_compute(result, argument);
80 assert(result.space()->nq() == outputSize());
81 assert(argument.size() == inputSize());
82 impl_compute(result, argument);
89 assert(argument.size() == inputSize());
90 assert(jacobian.rows() == outputDerivativeSize());
91 assert(jacobian.cols() == inputDerivativeSize());
92 impl_jacobian(jacobian, argument);
102 return activeDerivativeParameters_;
122 const std::string&
name()
const {
return name_; }
125 virtual std::ostream& print(std::ostream& o)
const;
127 std::string
context()
const {
return context_; }
129 void context(
const std::string& c) { context_ = c; }
140 void finiteDifferenceForward(
143 std::sqrt(Eigen::NumTraits<value_type>::epsilon()))
const;
154 void finiteDifferenceCentral(
157 std::sqrt(Eigen::NumTraits<value_type>::epsilon()))
const;
172 std::string name = std::string());
182 std::string name = std::string());
191 if (name_ != other.name_)
return false;
192 if (inputSize_ != other.
inputSize_)
return false;
194 if (*outputSpace_ != *(other.
outputSpace_))
return false;
218 std::string context_;
258 #endif // HPP_CONSTRAINTS_DIFFERENTIABLE_FUNCTION_HH pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:59
ArrayXb activeParameters_
Definition: differentiable-function.hh:209
Definition: active-set-differentiable-function.hh:36
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:68
virtual std::ostream & print(std::ostream &o) const
Display object in a stream.
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:108
size_type outputDerivativeSize() const
Get dimension of output derivative vector.
Definition: differentiable-function.hh:118
size_type inputSize_
Dimension of input vector.
Definition: differentiable-function.hh:200
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:64
size_type inputDerivativeSize() const
Definition: differentiable-function.hh:112
LiegroupSpacePtr_t outputSpace_
Dimension of output vector.
Definition: differentiable-function.hh:204
bool operator==(const ComparisonTypes_t &v, const internal::ReplicateCompType &r)
Definition: comparison-types.hh:117
size_type outputSize() const
Get dimension of output vector.
Definition: differentiable-function.hh:116
pinocchio::ArrayXb ArrayXb
Definition: fwd.hh:79
Definition: differentiable-function-set.hh:44
size_type inputDerivativeSize_
Dimension of input derivative.
Definition: differentiable-function.hh:202
void value(LiegroupElementRef result, vectorIn_t argument) const
Definition: differentiable-function.hh:79
virtual bool isEqual(const DifferentiableFunction &other) const
Definition: differentiable-function.hh:190
const std::string & name() const
Get function name.
Definition: differentiable-function.hh:122
assert(d.lhs()._blocks()==d.rhs()._blocks())
void jacobian(matrixOut_t jacobian, vectorIn_t argument) const
Definition: differentiable-function.hh:88
const ArrayXb & activeParameters() const
Definition: differentiable-function.hh:97
Definition: differentiable-function.hh:63
const ArrayXb & activeDerivativeParameters() const
Definition: differentiable-function.hh:101
void context(const std::string &c)
Definition: differentiable-function.hh:129
size_type inputSize() const
Get dimension of input vector.
Definition: differentiable-function.hh:106
std::string context() const
Definition: differentiable-function.hh:127
ComparisonTypes_t operator<<(const ComparisonType &a, const ComparisonType &b)
Definition: comparison-types.hh:61
LiegroupSpacePtr_t outputSpace() const
Get output space.
Definition: differentiable-function.hh:114
LiegroupElement operator()(vectorIn_t argument) const
Definition: differentiable-function.hh:70
DifferentiableFunction()
Definition: differentiable-function.hh:223
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:65
pinocchio::size_type size_type
Definition: fwd.hh:47
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:57
pinocchio::value_type value_type
Definition: fwd.hh:48
virtual ~DifferentiableFunction()
Definition: differentiable-function.hh:65
ArrayXb activeDerivativeParameters_
Definition: differentiable-function.hh:213