Public Member Functions | Static Public Member Functions | Protected Member Functions | List of all members
hpp::core::NumericalConstraint Class Reference

With the same notation as in Equation, this class represents equation: More...

#include <hpp/core/numerical-constraint.hh>

Inheritance diagram for hpp::core::NumericalConstraint:
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Collaboration diagram for hpp::core::NumericalConstraint:
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Public Member Functions

virtual EquationPtr_t copy () const
 Copy object and return shared pointer to copy. More...
 
virtual ~NumericalConstraint ()
 
void rightHandSideFromConfig (ConfigurationIn_t config)
 
DifferentiableFunctionfunction () const
 Return a reference to the inner function. 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...
 
- Public Member Functions inherited from hpp::core::Equation
bool operator== (const Equation &other) const
 Operator equality. 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...
 
virtual ~Equation ()
 

Static Public Member Functions

static NumericalConstraintPtr_t create (const DifferentiableFunctionPtr_t &function)
 Create a shared pointer to a new instance. More...
 
static NumericalConstraintPtr_t create (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp)
 Create a shared pointer to a new instance. More...
 
static NumericalConstraintPtr_t create (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp, vectorIn_t rhs)
 Create a shared pointer to a new instance. More...
 
static NumericalConstraintPtr_t createCopy (const NumericalConstraintPtr_t &other)
 Create a copy and return shared pointer. More...
 

Protected Member Functions

 NumericalConstraint (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp)
 Constructor. More...
 
 NumericalConstraint (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp, vectorIn_t rhs)
 Constructor. More...
 
 NumericalConstraint (const NumericalConstraint &other)
 Copy constructor. More...
 
virtual bool isEqual (const Equation &other, bool swapAndTest) const
 Test equality with other instance. More...
 
void init (const NumericalConstraintWkPtr_t &weak)
 
- Protected Member Functions inherited from hpp::core::Equation
 Equation (const ComparisonTypes_t &comp, vectorIn_t rhs)
 
 Equation (const Equation &other)
 
void init (const EquationWkPtr_t &weak)
 

Detailed Description

With the same notation as in Equation, this class represents equation:

Constructor & Destructor Documentation

◆ ~NumericalConstraint()

virtual hpp::core::NumericalConstraint::~NumericalConstraint ( )
inlinevirtual

◆ NumericalConstraint() [1/3]

hpp::core::NumericalConstraint::NumericalConstraint ( const DifferentiableFunctionPtr_t function,
ComparisonTypes_t  comp 
)
protected

Constructor.

Parameters
functionthe differentiable function

◆ NumericalConstraint() [2/3]

hpp::core::NumericalConstraint::NumericalConstraint ( const DifferentiableFunctionPtr_t function,
ComparisonTypes_t  comp,
vectorIn_t  rhs 
)
protected

Constructor.

Parameters
functionthe differentiable function
rhsthe right hand side of this equation

◆ NumericalConstraint() [3/3]

hpp::core::NumericalConstraint::NumericalConstraint ( const NumericalConstraint other)
protected

Copy constructor.

Member Function Documentation

◆ copy()

virtual EquationPtr_t hpp::core::NumericalConstraint::copy ( ) const
virtual

Copy object and return shared pointer to copy.

Implements hpp::core::Equation.

Reimplemented in hpp::core::ExplicitNumericalConstraint, and hpp::core::LockedJoint.

◆ create() [1/3]

static NumericalConstraintPtr_t hpp::core::NumericalConstraint::create ( const DifferentiableFunctionPtr_t function)
static

Create a shared pointer to a new instance.

See also
constructors

◆ create() [2/3]

static NumericalConstraintPtr_t hpp::core::NumericalConstraint::create ( const DifferentiableFunctionPtr_t function,
ComparisonTypes_t  comp 
)
static

Create a shared pointer to a new instance.

See also
constructors

◆ create() [3/3]

static NumericalConstraintPtr_t hpp::core::NumericalConstraint::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 NumericalConstraintPtr_t hpp::core::NumericalConstraint::createCopy ( const NumericalConstraintPtr_t other)
static

Create a copy and return shared pointer.

◆ function()

DifferentiableFunction& hpp::core::NumericalConstraint::function ( ) const
inline

Return a reference to the inner function.

◆ functionPtr()

const DifferentiableFunctionPtr_t& hpp::core::NumericalConstraint::functionPtr ( ) const
inline

Return a reference to the inner function.

◆ init()

void hpp::core::NumericalConstraint::init ( const NumericalConstraintWkPtr_t &  weak)
inlineprotected

◆ isEqual()

virtual bool hpp::core::NumericalConstraint::isEqual ( const Equation other,
bool  swapAndTest 
) const
protectedvirtual

Test equality with other instance.

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

Reimplemented from hpp::core::Equation.

Reimplemented in hpp::core::LockedJoint.

◆ jacobian()

matrix_t& hpp::core::NumericalConstraint::jacobian ( )
inline

Return a reference to the jacobian.

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

◆ rightHandSideFromConfig()

void hpp::core::NumericalConstraint::rightHandSideFromConfig ( ConfigurationIn_t  config)
virtual

◆ value()

vector_t& hpp::core::NumericalConstraint::value ( )
inline

Return a reference to the value.

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