Public Member Functions | Static Public Member Functions | Protected Member Functions | Friends | List of all members
hpp::constraints::Implicit Class Reference

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>

Inheritance diagram for hpp::constraints::Implicit:
[legend]

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 ()
 
DifferentiableFunctionfunction () const
 Return a reference to function \(f\). More...
 
const DifferentiableFunctionPtr_tfunctionPtr () const
 Return a reference to the inner function. More...
 
vector_tvalue ()
 Return a reference to the value. More...
 
matrix_tjacobian ()
 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_tcomparisonType () 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
 

Detailed Description

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:

Constructor & Destructor Documentation

◆ ~Implicit()

virtual hpp::constraints::Implicit::~Implicit ( )
inlinevirtual

◆ Implicit() [1/3]

hpp::constraints::Implicit::Implicit ( const DifferentiableFunctionPtr_t function,
ComparisonTypes_t  comp 
)
protected

Constructor.

Parameters
functionthe differentiable function

◆ Implicit() [2/3]

hpp::constraints::Implicit::Implicit ( const DifferentiableFunctionPtr_t function,
ComparisonTypes_t  comp,
vectorIn_t  rhs 
)
protected

Constructor.

Parameters
functionthe differentiable function
rhsthe right hand side of this equation

◆ Implicit() [3/3]

hpp::constraints::Implicit::Implicit ( const Implicit other)
protected

Copy constructor.

Member Function Documentation

◆ comparisonType() [1/2]

const ComparisonTypes_t& hpp::constraints::Implicit::comparisonType ( ) const

Return the ComparisonType.

◆ comparisonType() [2/2]

void hpp::constraints::Implicit::comparisonType ( const ComparisonTypes_t comp)

Set the comparison type.

◆ constantRightHandSide()

bool hpp::constraints::Implicit::constantRightHandSide ( ) const

◆ copy()

virtual ImplicitPtr_t hpp::constraints::Implicit::copy ( ) const
virtual

◆ create() [1/3]

static ImplicitPtr_t hpp::constraints::Implicit::create ( const DifferentiableFunctionPtr_t function)
static

Create a shared pointer to a new instance.

See also
constructors

◆ create() [2/3]

static ImplicitPtr_t hpp::constraints::Implicit::create ( const DifferentiableFunctionPtr_t function,
ComparisonTypes_t  comp 
)
static

Create a shared pointer to a new instance.

See also
constructors

◆ create() [3/3]

static ImplicitPtr_t hpp::constraints::Implicit::create ( const DifferentiableFunctionPtr_t function,
ComparisonTypes_t  comp,
vectorIn_t  rhs 
)
static

Create a shared pointer to a new instance.

See also
constructors

◆ createCopy()

static ImplicitPtr_t hpp::constraints::Implicit::createCopy ( const ImplicitPtr_t other)
static

Create a copy and return shared pointer.

◆ function()

DifferentiableFunction& hpp::constraints::Implicit::function ( ) const
inline

Return a reference to function \(f\).

◆ functionPtr()

const DifferentiableFunctionPtr_t& hpp::constraints::Implicit::functionPtr ( ) const
inline

Return a reference to the inner function.

◆ init()

void hpp::constraints::Implicit::init ( const ImplicitWkPtr_t &  weak)
inlineprotected

◆ isEqual()

virtual bool hpp::constraints::Implicit::isEqual ( const Implicit other,
bool  swapAndTest 
) const
protectedvirtual

Test equality with other instance.

Parameters
otherobject to copy
swapAndTestwhether we should also check other == this

Reimplemented in hpp::constraints::LockedJoint.

◆ jacobian()

matrix_t& hpp::constraints::Implicit::jacobian ( )
inline

Return a reference to the jacobian.

This matrix can be used to store the derivative of the function, its size being initialized.

◆ nonConstRightHandSide()

vectorOut_t hpp::constraints::Implicit::nonConstRightHandSide ( )

Return the right hand side of the equation.

◆ operator==()

bool hpp::constraints::Implicit::operator== ( const Implicit other) const
inline

Operator equality.

◆ rhsSize()

size_type hpp::constraints::Implicit::rhsSize ( ) const

Return the size of the right hand side constraint.

◆ rightHandSide() [1/2]

void hpp::constraints::Implicit::rightHandSide ( vectorIn_t  rhs)

Set the right hand side of the equation.

Parameters
rhsthe right hand side.

◆ rightHandSide() [2/2]

vectorIn_t hpp::constraints::Implicit::rightHandSide ( ) const

Return the right hand side of the equation.

◆ rightHandSideFromConfig()

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

Parameters
configthe input configuration.
Warning
Only values of the right hand side corresponding to "equality constraints" are set. As a result, the input configuration may not satisfy the other constraints. The rationale is the following. Equality constraints define a foliation of the configuration space. Leaves of the foliation are defined by the value of the right hand side of the equality constraints. This method is mainly used in manipulation planning to retrieve the leaf a configuration lies on.

◆ value()

vector_t& hpp::constraints::Implicit::value ( )
inline

Return a reference to the value.

This vector can be used to store the output of the function, its size being initialized.

Friends And Related Function Documentation

◆ ImplicitConstraintSet

friend class ImplicitConstraintSet
friend