pyhpp::constraints::DFWrapper Struct Reference

Inheritance diagram for pyhpp::constraints::DFWrapper:

Collaboration diagram for pyhpp::constraints::DFWrapper:

Public Types
typedef hpp::shared_ptr< DFWrapper >	Ptr_t

Public Member Functions
	DFWrapper (size_type sizeInput, size_type sizeInputDerivative, size_type sizeOutput, std::string name)
void	impl_compute (LiegroupElementRef result, vectorIn_t argument) const
void	impl_jacobian (matrixOut_t jacobian, vectorIn_t arg) const
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 ArrayXb &	activeParameters () const
const ArrayXb &	activeDerivativeParameters () const
size_type	inputSize () const
size_type	inputDerivativeSize () const
LiegroupSpacePtr_t	outputSpace () const
size_type	outputSize () const
size_type	outputDerivativeSize () const
const std::string &	name () const
virtual std::ostream &	print (std::ostream &o) const
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_t >	dependsOnRelPoseBetween (DeviceConstPtr_t) const

Static Public Member Functions
static void	value_wrap (const DifferentiableFunction &f, LiegroupElement &lge, const Configuration_t &q)
static void	jacobian_wrap (const DifferentiableFunction &f, matrixOut_t J, const Configuration_t &q)
static LiegroupElement	py_value (const DifferentiableFunction &f, const Configuration_t &q)
static matrix_t	py_jacobian (const DifferentiableFunction &f, const Configuration_t &q)
Static Public Member Functions inherited from hpp::constraints::DifferentiableFunction
static DifferentiableFunctionPtr_t	extract (DifferentiableFunctionPtr_t original, interval_t interval)

Additional Inherited Members
Protected Member Functions inherited from hpp::constraints::DifferentiableFunction
	DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, size_type sizeOutput, std::string name=std::string())
	DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, const LiegroupSpacePtr_t &outputSpace, std::string name=std::string())
virtual bool	isEqual (const DifferentiableFunction &other) const
	DifferentiableFunction ()
Protected Attributes inherited from hpp::constraints::DifferentiableFunction
size_type	inputSize_
size_type	inputDerivativeSize_
LiegroupSpacePtr_t	outputSpace_
ArrayXb	activeParameters_
ArrayXb	activeDerivativeParameters_

Member Typedef Documentation

Ptr_t

typedef hpp::shared_ptr<DFWrapper> pyhpp::constraints::DFWrapper::Ptr_t

Constructor & Destructor Documentation

DFWrapper()

pyhpp::constraints::DFWrapper::DFWrapper ( size_type  sizeInput, size_type  sizeInputDerivative, size_type  sizeOutput, std::string  name  )

inline

Member Function Documentation

impl_compute()

void pyhpp::constraints::DFWrapper::impl_compute ( LiegroupElementRef  result, vectorIn_t  argument  ) const

inlinevirtual

Implements hpp::constraints::DifferentiableFunction.

impl_jacobian()

void pyhpp::constraints::DFWrapper::impl_jacobian ( matrixOut_t  jacobian, vectorIn_t  arg  ) const

inlinevirtual

Implements hpp::constraints::DifferentiableFunction.

jacobian_wrap()

static void pyhpp::constraints::DFWrapper::jacobian_wrap ( const DifferentiableFunction &  f, matrixOut_t  J, const Configuration_t &  q  )

inlinestatic

py_jacobian()

static matrix_t pyhpp::constraints::DFWrapper::py_jacobian ( const DifferentiableFunction &  f, const Configuration_t &  q  )

inlinestatic

py_value()

static LiegroupElement pyhpp::constraints::DFWrapper::py_value ( const DifferentiableFunction &  f, const Configuration_t &  q  )

inlinestatic

value_wrap()

static void pyhpp::constraints::DFWrapper::value_wrap ( const DifferentiableFunction &  f, LiegroupElement &  lge, const Configuration_t &  q  )

inlinestatic

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

• src/pyhpp/constraints/differentiable-function.cc