hpp-constraints 6.0.0
Definition of basic geometric constraints for motion planning
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hpp::constraints::function::OfParameterSubset Class Reference

#include <hpp/constraints/function/of-parameter-subset.hh>

Inheritance diagram for hpp::constraints::function::OfParameterSubset:
Collaboration diagram for hpp::constraints::function::OfParameterSubset:

Static Public Member Functions

static OfParameterSubsetPtr_t create (const DifferentiableFunctionPtr_t &g, const size_type &nArgs, const size_type &nDers, const segment_t &inArgs, const segment_t &inDers)
 

Protected Member Functions

 OfParameterSubset (const DifferentiableFunctionPtr_t &g, const size_type &nArgs, const size_type &nDers, const segment_t &inArgs, const segment_t &inDers)
 
void impl_compute (LiegroupElementRef y, vectorIn_t arg) const
 User implementation of function evaluation.
 
void impl_jacobian (matrixOut_t J, vectorIn_t arg) const
 
bool isEqual (const DifferentiableFunction &other) const
 
std::ostream & print (std::ostream &os) const
 Display object in a stream.
 
- Protected Member Functions inherited from hpp::constraints::DifferentiableFunction
 DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, size_type sizeOutput, std::string name=std::string())
 Concrete class constructor should call this constructor.
 
 DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, const LiegroupSpacePtr_t &outputSpace, std::string name=std::string())
 Concrete class constructor should call this constructor.
 
 DifferentiableFunction ()
 

Protected Attributes

DifferentiableFunctionPtr_t g_
 
const segment_t sa_
 
const segment_t sd_
 
- Protected Attributes inherited from hpp::constraints::DifferentiableFunction
size_type inputSize_
 Dimension of input vector.
 
size_type inputDerivativeSize_
 Dimension of input derivative.
 
LiegroupSpacePtr_t outputSpace_
 Dimension of output vector.
 
ArrayXb activeParameters_
 
ArrayXb activeDerivativeParameters_
 

Additional Inherited Members

- Public Member Functions inherited from hpp::constraints::DifferentiableFunction
virtual ~DifferentiableFunction ()
 
LiegroupElement operator() (vectorIn_t argument) const
 
void value (LiegroupElementRef result, vectorIn_t argument) const
 
void jacobian (matrixOut_t jacobian, vectorIn_t argument) const
 
const ArrayXbactiveParameters () const
 
const ArrayXbactiveDerivativeParameters () const
 
size_type inputSize () const
 Get dimension of input vector.
 
size_type inputDerivativeSize () const
 
LiegroupSpacePtr_t outputSpace () const
 Get output space.
 
size_type outputSize () const
 Get dimension of output vector.
 
size_type outputDerivativeSize () const
 Get dimension of output derivative vector.
 
const std::string & name () const
 Get function name.
 
std::string context () const
 
void context (const std::string &c)
 
void finiteDifferenceForward (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const
 
void finiteDifferenceCentral (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const
 
bool operator== (DifferentiableFunction const &other) const
 
bool operator!= (DifferentiableFunction const &b) const
 
virtual std::pair< JointConstPtr_t, JointConstPtr_tdependsOnRelPoseBetween (DeviceConstPtr_t) const
 

Detailed Description

Function depending on a subset of parameters

This class implements a function over a configuration space, the output values of which only depend on a convex subset of parameters.

\begin{equation}
f (q_1,\cdots,q_n) = g (q_{i},\cdots,q_{i+p-1})
\end{equation}

where

  • $n$ is the dimension of the input configuration space,
  • $[i,i+p-1]$ is an interval included in $[1,n]$,
  • $g$ is a differentiable mapping from $\mathbf{R}^p$ to the output space of $f$.

Constructor & Destructor Documentation

◆ OfParameterSubset()

hpp::constraints::function::OfParameterSubset::OfParameterSubset ( const DifferentiableFunctionPtr_t g,
const size_type nArgs,
const size_type nDers,
const segment_t inArgs,
const segment_t inDers 
)
protected

Constructor

Parameters
gthe mapping from the subset of parameters to the output space,
nArgsdimension $n$ of the input space representation,
nDersdimension of the input tangent space,
inArgsinterval $[i,i+p-1]$ of configuration indices,
inDersinterval of velocity indices.

Member Function Documentation

◆ create()

static OfParameterSubsetPtr_t hpp::constraints::function::OfParameterSubset::create ( const DifferentiableFunctionPtr_t g,
const size_type nArgs,
const size_type nDers,
const segment_t inArgs,
const segment_t inDers 
)
inlinestatic

Create instance and return shared pointer

Parameters
gthe mapping from the subset of parameters to the output space,
nArgsdimension $n$ of the input space representation,
nDersdimension of the input tangent space,
inArgsinterval $[i,i+p-1]$ of configuration indices,
inDersinterval of velocity indices.

◆ impl_compute()

void hpp::constraints::function::OfParameterSubset::impl_compute ( LiegroupElementRef  result,
vectorIn_t  argument 
) const
inlineprotectedvirtual

User implementation of function evaluation.

Implements hpp::constraints::DifferentiableFunction.

◆ impl_jacobian()

void hpp::constraints::function::OfParameterSubset::impl_jacobian ( matrixOut_t  J,
vectorIn_t  arg 
) const
inlineprotectedvirtual

◆ isEqual()

bool hpp::constraints::function::OfParameterSubset::isEqual ( const DifferentiableFunction other) const
inlineprotectedvirtual

◆ print()

std::ostream & hpp::constraints::function::OfParameterSubset::print ( std::ostream &  o) const
protectedvirtual

Display object in a stream.

Reimplemented from hpp::constraints::DifferentiableFunction.

Member Data Documentation

◆ g_

DifferentiableFunctionPtr_t hpp::constraints::function::OfParameterSubset::g_
protected

◆ sa_

const segment_t hpp::constraints::function::OfParameterSubset::sa_
protected

◆ sd_

const segment_t hpp::constraints::function::OfParameterSubset::sd_
protected

The documentation for this class was generated from the following file: