Time varying right hand side of constraint. More...
#include <hpp/rbprm/interpolation/interpolation-constraints.hh>
Public Member Functions | |
funEvaluator (const Reference &ref, const fun &method) | |
Constructor. More... | |
const std::pair< core::value_type, core::value_type > | timeRange () |
Time range of reference path of right hand side. More... | |
void | operator() (constraints::ImplicitPtr_t eq, const constraints::value_type &normalized_input, pinocchio::ConfigurationOut_t) const |
Compute and set right hand side of constraint. More... | |
Public Attributes | |
const Reference | ref_ |
const fun | method_ |
const std::size_t | dim_ |
Time varying right hand side of constraint.
Reference | type of shared pointer to Path. |
method | modifying the right hand side |
This class compute the right hand side of a constraints::Implicit instance as the composition of a mapping called method with a mapping from interval [0,1] to a vector space called reference.
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inline |
Constructor.
ref | Reference path of right hand side. |
method | mapping from the output space of ref to a vector space of dimension the right hand side of the constraint. |
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inlinevirtual |
Compute and set right hand side of constraint.
eq | Implicit constraint, |
normalized_input | real valued parameter between 0 and 1, mapped in an affine way to a value in the definition interval of the reference path. |
If is the normalized input and
the definition interval of
, then
where is the method provided to the constructor.
Implements hpp::rbprm::interpolation::RightHandSideFunctor.
References assert(), and hpp::rbprm::interpolation::VecRightSide< Reference >::ref_.
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inline |
Time range of reference path of right hand side.
References hpp::rbprm::interpolation::VecRightSide< Reference >::ref_.
const std::size_t hpp::rbprm::interpolation::funEvaluator< Reference, fun >::dim_ |
const fun hpp::rbprm::interpolation::funEvaluator< Reference, fun >::method_ |
const Reference hpp::rbprm::interpolation::funEvaluator< Reference, fun >::ref_ |