#include <tvm/function/abstract/Function.h>

Inheritance diagram for tvm::function::abstract::Function:

Collaboration diagram for tvm::function::abstract::Function:

Classes
struct	slice_jdot

Public Member Functions
virtual const Eigen::VectorXd &	velocity () const

virtual const Eigen::VectorXd &	normalAcceleration () const

virtual MatrixConstRef	JDot (const Variable &x) const

Public Member Functions inherited from tvm::internal::FirstOrderProvider
virtual const Eigen::VectorXd &	value () const

virtual MatrixConstRefWithProperties	jacobian (const Variable &x) const

bool	linearIn (const Variable &x) const

const Space &	imageSpace () const

int	size () const

int	rSize () const

int	tSize () const

const VariableVector &	variables () const

Public Member Functions inherited from tvm::graph::internal::AbstractNode
template<typename EnumT >
bool	isUpdateEnabled (EnumT e) const

virtual bool	isUpdateStaticallyEnabled (int) const

virtual bool	isUpdateCustomEnabled (int) const

virtual	~AbstractNode ()=default

void	update (int i)

Public Member Functions inherited from tvm::graph::internal::Inputs
virtual	~Inputs ()=default

template<typename T , typename EnumI , typename... Args>
void	addInput (std::shared_ptr< T > source, EnumI i, Args... args)

template<typename T , typename EnumI , typename... Args, typename std::enable_if< std::is_base_of< abstract::Outputs, T >::value, int >::type = 0>
void	addInput (T &source, EnumI i, Args... args)

template<typename T >
void	removeInput (T *source)

template<typename T , typename... Args>
void	removeInput (T *source, Args... args)

template<typename T >
Iterator	getInput (T *source)

template<typename T >
Iterator	getInput (const std::shared_ptr< T > &source)

Public Member Functions inherited from tvm::graph::abstract::Outputs
virtual	~Outputs ()=default

template<typename EnumT >
bool	isOutputEnabled (EnumT e) const

bool	isOutputEnabled (int i) const

virtual bool	isOutputStaticallyEnabled (int) const

virtual bool	isOutputCustomEnabled (int) const

Protected Member Functions
	Function (int m=0)

	Function (Space image)

void	resizeCache () override

void	resizeVelocityCache ()

void	resizeNormalAccelerationCache ()

void	resizeJDotCache ()

void	addVariable_ (VariablePtr v) override

void	removeVariable_ (VariablePtr v) override

Protected Member Functions inherited from tvm::internal::FirstOrderProvider
	FirstOrderProvider (int m)

	FirstOrderProvider (Space image)

void	resizeValueCache ()

void	resizeJacobianCache ()

void	addVariable (VariablePtr v, bool linear)

void	removeVariable (VariablePtr v)

void	addVariable (const VariableVector &v, bool linear)

void	splitJacobian (const MatrixConstRef &J, const std::vector< VariablePtr > &vars, bool keepProperties=false)

void	splitJacobian (const MatrixConstRef &J, const VariableVector &vars, bool keepProperties=false)

void	resize (int m)

Protected Member Functions inherited from tvm::graph::abstract::Node< FirstOrderProvider >
void	registerUpdates (EnumT u, void(U::*fn)(), Args... args)

void	registerUpdates (EnumT u, void(U::*fn)())

void	addOutputDependency (EnumO o, EnumU u)

void	addOutputDependency (std::initializer_list< EnumO > os, EnumU u)

void	addInternalDependency (EnumU1 uDependent, EnumU2 u)

void	addInputDependency (EnumU u, std::shared_ptr< S > source, EnumO i, Args... args)

void	addInputDependency (EnumU u, S &source, EnumO i, Args... args)

void	addDirectDependency (EnumO o, std::shared_ptr< S > source, EnumI i)

void	addDirectDependency (EnumO o, S &source, EnumI i)

Protected Attributes
Eigen::VectorXd	velocity_

Eigen::VectorXd	normalAcceleration_

utils::internal::MapWithVariableAsKey< Eigen::MatrixXd, slice_jdot >	JDot_

Protected Attributes inherited from tvm::internal::FirstOrderProvider
Eigen::VectorXd	value_

utils::internal::MapWithVariableAsKey< MatrixWithProperties, slice_matrix, true >	jacobian_

Space	imageSpace_

VariableVector	variables_

utils::internal::MapWithVariableAsKey< bool, slice_linear >	linear_

Protected Attributes inherited from tvm::graph::internal::AbstractNode
std::map< int, std::function< void(AbstractNode &)> >	updates_

std::map< int, std::vector< int > >	outputDependencies_

std::map< int, std::vector< int > >	internalDependencies_

std::map< int, input_dependency_t >	inputDependencies_

std::map< int, std::pair< Outputs *, int > >	directDependencies_

Protected Attributes inherited from tvm::graph::abstract::Outputs
bool	is_node_ = false

Additional Inherited Members
Public Types inherited from tvm::graph::internal::AbstractNode
enum	Update_

using	UpdateParent = AbstractNode

using	UpdateBase = AbstractNode

Public Types inherited from tvm::graph::internal::Inputs
using	inputs_t = std::unordered_map< abstract::Outputs *, std::set< int > >

using	store_t = std::unordered_set< std::shared_ptr< abstract::Outputs > >

Public Types inherited from tvm::graph::abstract::Outputs
enum	Output_

using	OutputParent = Outputs

using	OutputBase = Outputs

Static Public Member Functions inherited from tvm::graph::internal::AbstractNode
static constexpr const char *	UpdateName (Update_)

template<typename EnumT >
static constexpr bool	UpdateStaticallyEnabled (EnumT)

Static Public Member Functions inherited from tvm::graph::abstract::Outputs
static constexpr const char *	OutputName (Output_)

template<typename EnumT >
static constexpr bool	OutputStaticallyEnabled (EnumT)

Static Public Attributes inherited from tvm::graph::internal::AbstractNode
static constexpr unsigned int	UpdateSize = 0

static constexpr auto	UpdateBaseName = "AbstractNode"

Static Public Attributes inherited from tvm::graph::abstract::Outputs
static constexpr unsigned int	OutputSize = 0

static constexpr auto	OutputBaseName = "Outputs"

Protected Types inherited from tvm::graph::internal::AbstractNode
using	input_dependency_t = std::map< Outputs *, std::set< int > >

Detailed Description

Base class defining the classical outputs for a function

Constructor & Destructor Documentation

◆ Function() [1/2]

tvm::function::abstract::Function::Function ( int m = 0 )

protected

Constructor for a function with value in \( \mathbb{R}^m \).

Parameters

m	the size of the function/constraint image space, i.e. the row size of the jacobians (or equivalently in this case the size of the output value).

◆ Function() [2/2]

tvm::function::abstract::Function::Function ( Space image )

protected

Constructor for a function with value in a specified space.

Parameters

image Description of the image space

Member Function Documentation

◆ addVariable_()

void tvm::function::abstract::Function::addVariable_ ( VariablePtr )

overrideprotectedvirtual

To be overridden by derived classes that need to react to the addition of a variable. Called at the end of addVariable();

Reimplemented from tvm::internal::FirstOrderProvider.

◆ JDot()

MatrixConstRef tvm::function::abstract::Function::JDot ( const Variable & x ) const

inlinevirtual

◆ normalAcceleration()

const Eigen::VectorXd & tvm::function::abstract::Function::normalAcceleration ( ) const

inlinevirtual

Reimplemented in tvm::robot::JointsSelector.

◆ removeVariable_()

void tvm::function::abstract::Function::removeVariable_ ( VariablePtr )

overrideprotectedvirtual

To be overridden by derived classes that need to react to the removal of a variable. Called at the end of removeVariable();

Reimplemented from tvm::internal::FirstOrderProvider.

◆ resizeCache()

void tvm::function::abstract::Function::resizeCache ( )

overrideprotectedvirtual

Resize all cache members corresponding to active output

Reimplemented from tvm::internal::FirstOrderProvider.

Reimplemented in tvm::function::abstract::LinearFunction.

◆ resizeJDotCache()

void tvm::function::abstract::Function::resizeJDotCache ( )

protected

◆ resizeNormalAccelerationCache()

void tvm::function::abstract::Function::resizeNormalAccelerationCache ( )

protected

◆ resizeVelocityCache()

void tvm::function::abstract::Function::resizeVelocityCache ( )

protected

◆ velocity()

const Eigen::VectorXd & tvm::function::abstract::Function::velocity ( ) const

inlinevirtual

Note: by default, these methods return the cached value. However, they are virtual in case the user might want to bypass the cache. This would be typically the case if he/she wants to directly return the output of another method, e.g. return the jacobian of an other Function.

Reimplemented in tvm::robot::JointsSelector.

Member Data Documentation

◆ JDot_

utils::internal::MapWithVariableAsKey<Eigen::MatrixXd, slice_jdot> tvm::function::abstract::Function::JDot_

protected

◆ normalAcceleration_

Eigen::VectorXd tvm::function::abstract::Function::normalAcceleration_

protected

◆ velocity_

Eigen::VectorXd tvm::function::abstract::Function::velocity_

protected

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

include/tvm/function/abstract/Function.h

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Function() [1/2]

◆ Function() [2/2]

Member Function Documentation

◆ addVariable_()

◆ JDot()

◆ normalAcceleration()

◆ removeVariable_()

◆ resizeCache()

◆ resizeJDotCache()

◆ resizeNormalAccelerationCache()

◆ resizeVelocityCache()

◆ velocity()

Member Data Documentation

◆ JDot_

◆ normalAcceleration_

◆ velocity_