This class represents an equation with the following format \( f(q) = \textbf{or} \le rhs \). More...
#include <hpp/core/equation.hh>
Public Member Functions | |
virtual EquationPtr_t | copy () const =0 |
Copy object and return shared pointer to copy. More... | |
bool | operator== (const Equation &other) const |
Operator equality. More... | |
virtual void | rightHandSideFromConfig (ConfigurationIn_t config)=0 |
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... | |
virtual | ~Equation () |
Protected Member Functions | |
Equation (const ComparisonTypes_t &comp, vectorIn_t rhs) | |
Equation (const Equation &other) | |
virtual bool | isEqual (const Equation &other, bool swapAndTest) const |
Test equality with other instance. More... | |
void | init (const EquationWkPtr_t &weak) |
This class represents an equation with the following format \( f(q) = \textbf{or} \le rhs \).
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inlinevirtual |
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protected |
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protected |
const ComparisonTypes_t& hpp::core::Equation::comparisonType | ( | ) | const |
Return the ComparisonType.
void hpp::core::Equation::comparisonType | ( | const ComparisonTypes_t & | comp | ) |
Set the comparison type.
bool hpp::core::Equation::constantRightHandSide | ( | ) | const |
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pure virtual |
Copy object and return shared pointer to copy.
Implemented in hpp::core::ExplicitNumericalConstraint, hpp::core::LockedJoint, and hpp::core::NumericalConstraint.
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inlineprotected |
Referenced by hpp::core::NumericalConstraint::init().
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protectedvirtual |
Test equality with other instance.
other | object to copy |
swapAndTest | whether we should also check other == this |
Reimplemented in hpp::core::LockedJoint, and hpp::core::NumericalConstraint.
vectorOut_t hpp::core::Equation::nonConstRightHandSide | ( | ) |
Return the right hand side of the equation.
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inline |
Operator equality.
size_type hpp::core::Equation::rhsSize | ( | ) | const |
Return the size of the right hand side constraint.
void hpp::core::Equation::rightHandSide | ( | vectorIn_t | rhs | ) |
Set the right hand side of the equation.
rhs | the right hand side. |
vectorIn_t hpp::core::Equation::rightHandSide | ( | ) | const |
Return the right hand side of the equation.
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pure virtual |
Set the right hand side from a configuration.
in such a way that the configuration satisfies the numerical constraints
config | the input configuration. |
Implemented in hpp::core::LockedJoint, and hpp::core::NumericalConstraint.