proxsuite::nlp::RigidTransformationPointActionTpl< Scalar > Struct Template Reference

Inheritance diagram for proxsuite::nlp::RigidTransformationPointActionTpl< Scalar >:

Collaboration diagram for proxsuite::nlp::RigidTransformationPointActionTpl< Scalar >:

Public Types
using	SE3 = pin::SE3Tpl<Scalar>
using	QuatConstMap = Eigen::Map<const typename SE3::Quaternion>
using	Base = C2FunctionTpl<Scalar>
using	Matrix33s = Eigen::Matrix<Scalar, 3, 3>
Public Types inherited from proxsuite::nlp::C2FunctionTpl< Scalar >
using	Scalar
using	Base
using	Scalar
using	Base
Public Types inherited from proxsuite::nlp::C1FunctionTpl< Scalar >
using	Scalar
using	Base
using	Scalar
using	Base
Public Types inherited from proxsuite::nlp::BaseFunctionTpl< Scalar >
using	Scalar
using	Scalar
Public Types inherited from proxsuite::nlp::math_types< _Scalar >
using	Scalar = _Scalar

Public Member Functions
	RigidTransformationPointActionTpl (const Eigen::Ref< const Vector3s > &point)
VectorXs	operator() (const ConstVectorRef &x) const override
	Evaluate the residual at a given point x.
void	computeJacobian (const ConstVectorRef &x, MatrixRef Jout) const override
	Jacobian matrix of the constraint function.
Eigen::Ref< const Matrix33s >	skew_point () const
Public Member Functions inherited from proxsuite::nlp::C2FunctionTpl< Scalar >
	C2FunctionTpl (const int nx, const int ndx, const int nr)
	C2FunctionTpl (const ManifoldAbstractTpl< Scalar > &manifold, const int nr)
virtual void	vectorHessianProduct (const ConstVectorRef &, const ConstVectorRef &, MatrixRef Hout) const
	Vector-hessian product.
	C2FunctionTpl (const int nx, const int ndx, const int nr)
	C2FunctionTpl (const ManifoldAbstractTpl< Scalar > &manifold, const int nr)
virtual void	vectorHessianProduct (const ConstVectorRef &, const ConstVectorRef &, MatrixRef Hout) const
	Vector-hessian product.
Public Member Functions inherited from proxsuite::nlp::C1FunctionTpl< Scalar >
	C1FunctionTpl (const int nx, const int ndx, const int nr)
	C1FunctionTpl (const ManifoldAbstractTpl< Scalar > &manifold, const int nr)
MatrixXs	computeJacobian (const ConstVectorRef &x) const
	Jacobian matrix of the constraint function.
	C1FunctionTpl (const int nx, const int ndx, const int nr)
	C1FunctionTpl (const ManifoldAbstractTpl< Scalar > &manifold, const int nr)
MatrixXs	computeJacobian (const ConstVectorRef &x) const
	Jacobian matrix of the constraint function.
Public Member Functions inherited from proxsuite::nlp::BaseFunctionTpl< Scalar >
	BaseFunctionTpl (const int nx, const int ndx, const int nr)
	BaseFunctionTpl (const ManifoldAbstractTpl< Scalar > &manifold, const int nr)
int	nx () const
	Get function input vector size (representation of manifold).
int	ndx () const
	Get input manifold's tangent space dimension.
int	nr () const
	Get function codimension.
	BaseFunctionTpl (const int nx, const int ndx, const int nr)
	BaseFunctionTpl (const ManifoldAbstractTpl< Scalar > &manifold, const int nr)
int	nx () const
	Get function input vector size (representation of manifold).
int	ndx () const
	Get input manifold's tangent space dimension.
int	nr () const
	Get function codimension.

Public Attributes
	Scalar
SETpl< 3, Scalar >	space_
Vector3s	point_
Public Attributes inherited from proxsuite::nlp::C2FunctionTpl< Scalar >
	Scalar
	Scalar
Public Attributes inherited from proxsuite::nlp::C1FunctionTpl< Scalar >
	Scalar
	Scalar
Public Attributes inherited from proxsuite::nlp::BaseFunctionTpl< Scalar >
	Scalar
	Scalar
Public Attributes inherited from proxsuite::nlp::math_types< _Scalar >
	_Scalar

Additional Inherited Members
Protected Attributes inherited from proxsuite::nlp::BaseFunctionTpl< Scalar >
int	nx_
int	ndx_
int	nr_
int	nx_
int	ndx_
int	nr_

Detailed Description

template<typename Scalar>
struct proxsuite::nlp::RigidTransformationPointActionTpl< Scalar >

Definition at line 11 of file rigid-transform-point.hpp.

Member Typedef Documentation

SE3

template<typename Scalar>

using proxsuite::nlp::RigidTransformationPointActionTpl< Scalar >::SE3 = pin::SE3Tpl<Scalar>

Definition at line 14 of file rigid-transform-point.hpp.

QuatConstMap

template<typename Scalar>

using proxsuite::nlp::RigidTransformationPointActionTpl< Scalar >::QuatConstMap = Eigen::Map<const typename SE3::Quaternion>

Definition at line 15 of file rigid-transform-point.hpp.

Base

template<typename Scalar>

using proxsuite::nlp::RigidTransformationPointActionTpl< Scalar >::Base = C2FunctionTpl<Scalar>

Definition at line 16 of file rigid-transform-point.hpp.

Matrix33s

template<typename Scalar>

using proxsuite::nlp::RigidTransformationPointActionTpl< Scalar >::Matrix33s = Eigen::Matrix<Scalar, 3, 3>

Definition at line 17 of file rigid-transform-point.hpp.

Constructor & Destructor Documentation

RigidTransformationPointActionTpl()

template<typename Scalar>

proxsuite::nlp::RigidTransformationPointActionTpl< Scalar >::RigidTransformationPointActionTpl ( const Eigen::Ref< const Vector3s > & point )

inline

Definition at line 22 of file rigid-transform-point.hpp.

Member Function Documentation

operator()()

template<typename Scalar>

VectorXs proxsuite::nlp::RigidTransformationPointActionTpl< Scalar >::operator() ( const ConstVectorRef & x ) const

inlineoverridevirtual

Evaluate the residual at a given point x.

Implements proxsuite::nlp::BaseFunctionTpl< Scalar >.

Definition at line 25 of file rigid-transform-point.hpp.

computeJacobian()

template<typename Scalar>

void proxsuite::nlp::RigidTransformationPointActionTpl< Scalar >::computeJacobian ( const ConstVectorRef & x, MatrixRef Jout ) const

inlineoverridevirtual

Jacobian matrix of the constraint function.

Implements proxsuite::nlp::C1FunctionTpl< Scalar >.

Definition at line 32 of file rigid-transform-point.hpp.

skew_point()

template<typename Scalar>

Eigen::Ref< const Matrix33s > proxsuite::nlp::RigidTransformationPointActionTpl< Scalar >::skew_point ( ) const

inline

Definition at line 40 of file rigid-transform-point.hpp.

Member Data Documentation

Scalar

template<typename Scalar>

proxsuite::nlp::RigidTransformationPointActionTpl< Scalar >::Scalar

Definition at line 12 of file rigid-transform-point.hpp.

space_

template<typename Scalar>

SETpl<3, Scalar> proxsuite::nlp::RigidTransformationPointActionTpl< Scalar >::space_

Definition at line 19 of file rigid-transform-point.hpp.

point_

template<typename Scalar>

Vector3s proxsuite::nlp::RigidTransformationPointActionTpl< Scalar >::point_

Definition at line 20 of file rigid-transform-point.hpp.

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

• include/proxsuite-nlp/modelling/residuals/rigid-transform-point.hpp