This class represents a numerical constraint with the following format
\begin{equation} f(q) \bowtie rhs \end{equation}
, where \(\bowtie\) is one of the following comparison operators: More...
#include <hpp/constraints/implicit.hh>
Public Member Functions | |
bool | operator== (const Implicit &other) const |
Operator equality. More... | |
virtual ImplicitPtr_t | copy () const |
Copy object and return shared pointer to copy. More... | |
virtual | ~Implicit () |
DifferentiableFunction & | function () const |
Return a reference to function \(f\). More... | |
const DifferentiableFunctionPtr_t & | functionPtr () const |
Return a reference to the inner function. More... | |
vector_t & | value () |
Return a reference to the value. More... | |
matrix_t & | jacobian () |
Return a reference to the jacobian. More... | |
Right hand side | |
void | rightHandSideFromConfig (ConfigurationIn_t config) |
Set the right hand side from a configuration. More... | |
void | rightHandSide (vectorIn_t rhs) |
Set the right hand side of the equation. More... | |
vectorIn_t | rightHandSide () const |
Return the right hand side of the equation. More... | |
size_type | rhsSize () const |
Return the size of the right hand side constraint. More... | |
const ComparisonTypes_t & | comparisonType () const |
Return the ComparisonType. More... | |
void | comparisonType (const ComparisonTypes_t &comp) |
Set the comparison type. More... | |
bool | constantRightHandSide () const |
vectorOut_t | nonConstRightHandSide () |
Return the right hand side of the equation. More... | |
Static Public Member Functions | |
static ImplicitPtr_t | create (const DifferentiableFunctionPtr_t &function) |
Create a shared pointer to a new instance. More... | |
static ImplicitPtr_t | create (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp) |
Create a shared pointer to a new instance. More... | |
static ImplicitPtr_t | create (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp, vectorIn_t rhs) |
Create a shared pointer to a new instance. More... | |
static ImplicitPtr_t | createCopy (const ImplicitPtr_t &other) |
Create a copy and return shared pointer. More... | |
Protected Member Functions | |
Implicit (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp) | |
Constructor. More... | |
Implicit (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp, vectorIn_t rhs) | |
Constructor. More... | |
Implicit (const Implicit &other) | |
Copy constructor. More... | |
virtual bool | isEqual (const Implicit &other, bool swapAndTest) const |
Test equality with other instance. More... | |
void | init (const ImplicitWkPtr_t &weak) |
Friends | |
class | ImplicitConstraintSet |
This class represents a numerical constraint with the following format
\begin{equation} f(q) \bowtie rhs \end{equation}
, where \(\bowtie\) is one of the following comparison operators:
|
inlinevirtual |
|
protected |
Constructor.
function | the differentiable function |
|
protected |
Constructor.
function | the differentiable function |
rhs | the right hand side of this equation |
|
protected |
Copy constructor.
const ComparisonTypes_t& hpp::constraints::Implicit::comparisonType | ( | ) | const |
Return the ComparisonType.
void hpp::constraints::Implicit::comparisonType | ( | const ComparisonTypes_t & | comp | ) |
Set the comparison type.
bool hpp::constraints::Implicit::constantRightHandSide | ( | ) | const |
|
virtual |
Copy object and return shared pointer to copy.
Reimplemented in hpp::constraints::Explicit, hpp::constraints::LockedJoint, hpp::constraints::explicit_::RelativePose, and hpp::constraints::implicit::RelativePose.
|
static |
Create a shared pointer to a new instance.
|
static |
Create a shared pointer to a new instance.
|
static |
Create a shared pointer to a new instance.
|
static |
Create a copy and return shared pointer.
|
inline |
Return a reference to function \(f\).
|
inline |
Return a reference to the inner function.
|
inlineprotected |
|
protectedvirtual |
Test equality with other instance.
other | object to copy |
swapAndTest | whether we should also check other == this |
Reimplemented in hpp::constraints::LockedJoint.
|
inline |
Return a reference to the jacobian.
This matrix can be used to store the derivative of the function, its size being initialized.
vectorOut_t hpp::constraints::Implicit::nonConstRightHandSide | ( | ) |
Return the right hand side of the equation.
|
inline |
Operator equality.
size_type hpp::constraints::Implicit::rhsSize | ( | ) | const |
Return the size of the right hand side constraint.
void hpp::constraints::Implicit::rightHandSide | ( | vectorIn_t | rhs | ) |
Set the right hand side of the equation.
rhs | the right hand side. |
vectorIn_t hpp::constraints::Implicit::rightHandSide | ( | ) | const |
Return the right hand side of the equation.
void hpp::constraints::Implicit::rightHandSideFromConfig | ( | ConfigurationIn_t | config | ) |
Set the right hand side from a configuration.
in such a way that the configuration satisfies the numerical constraints
config | the input configuration. |
|
inline |
Return a reference to the value.
This vector can be used to store the output of the function, its size being initialized.
|
friend |