template<typename Reference, typename fun>
struct hpp::rbprm::interpolation::funEvaluator< Reference, fun >
Time varying right hand side of constraint
- Template Parameters
-
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.
template<typename Reference , typename fun >
void hpp::rbprm::interpolation::funEvaluator< Reference, fun >::operator() |
( |
constraints::ImplicitPtr_t |
eq, |
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const constraints::value_type & |
normalized_input, |
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pinocchio::ConfigurationOut_t |
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) |
| const |
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inlinevirtual |
Compute and set right hand side of constraint
- Parameters
-
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.