hpp-constraints
5.1.0
Definition of basic geometric constraints for motion planning
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#include <hpp/constraints/symbolic-calculus.hh>
Public Types | |
typedef ValueType | ValueType_t |
typedef JacobianType | JacobianType_t |
Public Member Functions | |
virtual const ValueType & | value () const =0 |
virtual const JacobianType & | jacobian () const =0 |
virtual void | computeValue (const ConfigurationIn_t arg)=0 |
virtual void | computeJacobian (const ConfigurationIn_t arg)=0 |
virtual void | invalidate ()=0 |
Abstract class defining a basic common interface.
The purpose of this class is to allow the user to define an expression without requiring to explicitly write its type. The type will be automatically deduced by the compiler.
typedef JacobianType hpp::constraints::CalculusBaseAbstract< ValueType, JacobianType >::JacobianType_t |
typedef ValueType hpp::constraints::CalculusBaseAbstract< ValueType, JacobianType >::ValueType_t |
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pure virtual |
Implemented in hpp::constraints::CalculusBase< T, ValueType, JacobianType, CrossType >, hpp::constraints::CalculusBase< FunctionExp< FunctionType >, vector_t, matrix_t >, hpp::constraints::CalculusBase< JointFrame, Eigen::Matrix< value_type, 6, 1 >, Eigen::Matrix< value_type, 6, Eigen::Dynamic > >, hpp::constraints::CalculusBase< VectorInJoint >, hpp::constraints::CalculusBase< Point, vector3_t, JacobianMatrix >, hpp::constraints::CalculusBase< PointInJoint >, hpp::constraints::CalculusBase< MatrixOfExpressions< eigen::vector3_t, JacobianMatrix >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > >, and hpp::constraints::CalculusBase< PointCom, vector3_t, ComJacobian_t >.
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pure virtual |
Implemented in hpp::constraints::CalculusBase< T, ValueType, JacobianType, CrossType >, hpp::constraints::CalculusBase< FunctionExp< FunctionType >, vector_t, matrix_t >, hpp::constraints::CalculusBase< JointFrame, Eigen::Matrix< value_type, 6, 1 >, Eigen::Matrix< value_type, 6, Eigen::Dynamic > >, hpp::constraints::CalculusBase< VectorInJoint >, hpp::constraints::CalculusBase< Point, vector3_t, JacobianMatrix >, hpp::constraints::CalculusBase< PointInJoint >, hpp::constraints::CalculusBase< MatrixOfExpressions< eigen::vector3_t, JacobianMatrix >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > >, and hpp::constraints::CalculusBase< PointCom, vector3_t, ComJacobian_t >.
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pure virtual |
Implemented in hpp::constraints::MatrixOfExpressions< ValueType, JacobianType >, hpp::constraints::MatrixOfExpressions< eigen::vector3_t, JacobianMatrix >, hpp::constraints::CalculusBase< T, ValueType, JacobianType, CrossType >, hpp::constraints::CalculusBase< FunctionExp< FunctionType >, vector_t, matrix_t >, hpp::constraints::CalculusBase< JointFrame, Eigen::Matrix< value_type, 6, 1 >, Eigen::Matrix< value_type, 6, Eigen::Dynamic > >, hpp::constraints::CalculusBase< VectorInJoint >, hpp::constraints::CalculusBase< Point, vector3_t, JacobianMatrix >, hpp::constraints::CalculusBase< PointInJoint >, hpp::constraints::CalculusBase< MatrixOfExpressions< eigen::vector3_t, JacobianMatrix >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > >, and hpp::constraints::CalculusBase< PointCom, vector3_t, ComJacobian_t >.
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pure virtual |
Implemented in hpp::constraints::CalculusBase< FunctionExp< FunctionType >, vector_t, matrix_t >, hpp::constraints::CalculusBase< JointFrame, Eigen::Matrix< value_type, 6, 1 >, Eigen::Matrix< value_type, 6, Eigen::Dynamic > >, hpp::constraints::CalculusBase< VectorInJoint >, hpp::constraints::CalculusBase< Point, vector3_t, JacobianMatrix >, hpp::constraints::CalculusBase< PointInJoint >, hpp::constraints::CalculusBase< MatrixOfExpressions< eigen::vector3_t, JacobianMatrix >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > >, and hpp::constraints::CalculusBase< PointCom, vector3_t, ComJacobian_t >.
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pure virtual |
Implemented in hpp::constraints::CalculusBase< FunctionExp< FunctionType >, vector_t, matrix_t >, hpp::constraints::CalculusBase< JointFrame, Eigen::Matrix< value_type, 6, 1 >, Eigen::Matrix< value_type, 6, Eigen::Dynamic > >, hpp::constraints::CalculusBase< VectorInJoint >, hpp::constraints::CalculusBase< Point, vector3_t, JacobianMatrix >, hpp::constraints::CalculusBase< PointInJoint >, hpp::constraints::CalculusBase< MatrixOfExpressions< eigen::vector3_t, JacobianMatrix >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic >, Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > >, and hpp::constraints::CalculusBase< PointCom, vector3_t, ComJacobian_t >.