Public Member Functions | Protected Member Functions | List of all members
hpp::core::Equation Class Referenceabstract

This class represents an equation with the following format \( f(q) = \textbf{or} \le rhs \). More...

#include <hpp/core/equation.hh>

Inheritance diagram for hpp::core::Equation:
[legend]

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_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 ()
 

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)
 

Detailed Description

This class represents an equation with the following format \( f(q) = \textbf{or} \le rhs \).

Constructor & Destructor Documentation

◆ ~Equation()

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

◆ Equation() [1/2]

hpp::core::Equation::Equation ( const ComparisonTypes_t comp,
vectorIn_t  rhs 
)
protected

◆ Equation() [2/2]

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

Member Function Documentation

◆ comparisonType() [1/2]

const ComparisonTypes_t& hpp::core::Equation::comparisonType ( ) const

Return the ComparisonType.

◆ comparisonType() [2/2]

void hpp::core::Equation::comparisonType ( const ComparisonTypes_t comp)

Set the comparison type.

◆ constantRightHandSide()

bool hpp::core::Equation::constantRightHandSide ( ) const

◆ copy()

virtual EquationPtr_t hpp::core::Equation::copy ( ) const
pure virtual

Copy object and return shared pointer to copy.

Implemented in hpp::core::ExplicitNumericalConstraint, hpp::core::LockedJoint, and hpp::core::NumericalConstraint.

◆ init()

void hpp::core::Equation::init ( const EquationWkPtr_t &  weak)
inlineprotected

◆ isEqual()

virtual bool hpp::core::Equation::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 in hpp::core::LockedJoint, and hpp::core::NumericalConstraint.

◆ nonConstRightHandSide()

vectorOut_t hpp::core::Equation::nonConstRightHandSide ( )

Return the right hand side of the equation.

◆ operator==()

bool hpp::core::Equation::operator== ( const Equation other) const
inline

Operator equality.

◆ rhsSize()

size_type hpp::core::Equation::rhsSize ( ) const

Return the size of the right hand side constraint.

◆ rightHandSide() [1/2]

void hpp::core::Equation::rightHandSide ( vectorIn_t  rhs)

Set the right hand side of the equation.

Parameters
rhsthe right hand side.

◆ rightHandSide() [2/2]

vectorIn_t hpp::core::Equation::rightHandSide ( ) const

Return the right hand side of the equation.

◆ rightHandSideFromConfig()

virtual void hpp::core::Equation::rightHandSideFromConfig ( ConfigurationIn_t  config)
pure virtual

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.

Implemented in hpp::core::LockedJoint, and hpp::core::NumericalConstraint.