void computeRelativePoseRightHandSide (LiegroupElementConstRef rhs, std::size_t &ifloor, std::size_t &iobject, LiegroupElementRef relativePoseRhs) const
std::pair< JointConstPtr_t , JointConstPtr_t > dependsOnRelPoseBetween (DeviceConstPtr_t ) const
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 ArrayXb & activeParameters () const
const ArrayXb & activeDerivativeParameters () 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.
virtual std::ostream & print (std::ostream &o) const
Display object in a stream.
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
ConvexShapeContactComplement (const std::string &name , DevicePtr_t robot, const JointAndShapes_t &floorSurfaces, const JointAndShapes_t &objectSurfaces)
bool isEqual (const DifferentiableFunction &other) const
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.
virtual void impl_compute (LiegroupElementRef result, vectorIn_t argument) const =0
User implementation of function evaluation.
virtual void impl_jacobian (matrixOut_t jacobian , vectorIn_t arg) const =0
DifferentiableFunction ()
Complement to full transformation constraint of ConvexShapeContact
The value returned by this class is:
| Contact type | Inside | Outside | | -----------— | -----— | ----— | | ConvexShapeContact::POINT_ON_PLANE (Unsupported) | | | | ConvexShapeContact::LINE_ON_PLANE (Unsupported) | | | | ConvexShapeContact::PLANE_ON_PLANE | | |
where
See also ConvexShapeContact