DoubleDiagonalLinearFunction class. More...

#include <DoubleDiagonalLinearFunction.h>

Inheritance diagram for ocra::DoubleDiagonalLinearFunction:

Collaboration diagram for ocra::DoubleDiagonalLinearFunction:

Public Types
typedef LinearFunction	functionType_t

Public Types inherited from ocra::LinearFunction
typedef Function	functionType_t

Public Member Functions
template<class VectorBase1 , class VectorBase2 , class VectorBase3 >
	DoubleDiagonalLinearFunction (Variable &x, const VectorBase1 &d1, const VectorBase2 &d2, const VectorBase3 &b, const bool useDefaultValue=false, const double defaultDiagValue1=1., const double defaultDiagValue2=1., const double defaultbValue=0.)

template<class VectorBase >
	DoubleDiagonalLinearFunction (Variable &x, const double diagonalElementValue1, const double diagonalElementValue2, const VectorBase &b, const bool useDefaultValue=false, const double defaultbValue=0.)

template<class VectorBase1 , class VectorBase2 >
	DoubleDiagonalLinearFunction (Variable &x, const VectorBase1 &d1, const VectorBase2 &d2, const double vectorElementValue, const bool useDefaultValue=false, const double defaultValue1=1., const double defaultValue2=1.)

	DoubleDiagonalLinearFunction (Variable &x, const double diagonalElementValue1, const double diagonalElementValue2, const double vectorElementValue, const bool useDefaultValue=false)

const VectorXd &	getDiagonal1 () const

const VectorXd &	getDiagonal2 () const

double	getDefaultDiagonalValue1 () const

double	getDefaultDiagonalValue2 () const

double	getDefaultbValue () const

bool	isUsingDefaultValue () const

virtual void	changeDiagonal1 (const VectorXd &d)

virtual void	changeDiagonal2 (const VectorXd &d)

virtual void	changeDiagonal1 (const double diagonalElementValue, const bool changeDefault=true)

virtual void	changeDiagonal2 (const double diagonalElementValue, const bool changeDefault=true)

virtual void	changeDefaultDiagonalValue1 (const double v)

virtual void	changeDefaultDiagonalValue2 (const double v)

virtual void	changeDefaultbValue (const double v)

Public Member Functions inherited from ocra::LinearFunction
template<class Derived , class VectorBase >
	LinearFunction (Variable &x, const MatrixBase< Derived > &A, const VectorBase &b)

	~LinearFunction ()

void	invalidateb (int timestamp)

const MatrixXd &	getA () const

const VectorXd &	getb () const

void	changeA (const MatrixXd &A)

void	changeb (const VectorXd &b)

Public Member Functions inherited from ocra::Function
virtual	~Function ()

int	getDimension () const

virtual void	updateFdot () const

virtual void	updateFddot () const

virtual void	updateJdotXdot () const

const Variable &	getVariable () const

Variable &	getVariable ()

template<eFunctionAbility Ability>
void	invalidate ()

void	invalidateAll (int timestamp)

void	invalidateAll ()

template<eFunctionAbility Ability>
bool	isValid () const

template<eFunctionAbility Ability>
bool	canCompute () const

template<eFunctionAbility Ability>
const IFunction< Ability >::return_type &	get () const

template<eFunctionAbility Ability>
IFunction< Ability >::return_sub_type	get (int index) const

const VectorXd &	getValue () const

double	getValue (int index) const

const MatrixXd &	getJacobian () const

MatrixXdRow	getJacobian (int index) const

Public Member Functions inherited from ocra::ObserverSubject
	ObserverSubject ()

virtual	~ObserverSubject ()

Public Member Functions inherited from ocra::Observer
virtual	~Observer ()

template<int EVT>
void	bind (SubjectBase< EVT > &subject)
	Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...

template<int EVT>
void	stopPropagation ()

Public Member Functions inherited from ocra::ObserverBase< EVT_RESIZE >
void	bind (subject_type &subject)
	Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...

Public Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_DEPENDENCIES >
void	bind (subject_type &subject)
	Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...

Public Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_VALUE >
void	bind (subject_type &subject)
	Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...

Public Member Functions inherited from ocra::Subject
virtual	~Subject ()

template<int EVT, class Derived , class Base >
void	connect (Derived &object, void(Base::*newCallback)(int)) const
	Call this method to register a non-static method as a callback. More...

template<int EVT>
void	connect (void(*newCallback)(int)) const
	Call this method to register a free function as a callback. More...

template<int EVT, class Derived , class Base >
void	disconnect (Derived &object, void(Base::*callbackToErase)(int)) const
	Disconnect non-static method. More...

template<int EVT>
void	disconnect (void(*callbackToErase)(int)) const
	Disconnect free function. More...

template<int EVT>
void	propagate () const

template<int EVT>
void	propagate (int timestamp) const

Public Member Functions inherited from ocra::SubjectBase< EVT_RESIZE >
void	connect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type newCallback) const
	Call this method to register a non-static method as a callback. More...

void	connect (typename SubjectBaseTraits< EVT, void >::callback_type newCallback) const
	Call this method to register a free function as a callback. More...

void	disconnect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type callback) const
	Disconnect non-static method. More...

void	disconnect (typename SubjectBaseTraits< EVT, void >::callback_type callbackToErase) const
	Disconnect free function. More...

void	propagate (int timestamp) const

void	propagate () const

Public Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_DEPENDENCIES >
void	connect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type newCallback) const
	Call this method to register a non-static method as a callback. More...

void	connect (typename SubjectBaseTraits< EVT, void >::callback_type newCallback) const
	Call this method to register a free function as a callback. More...

void	disconnect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type callback) const
	Disconnect non-static method. More...

void	disconnect (typename SubjectBaseTraits< EVT, void >::callback_type callbackToErase) const
	Disconnect free function. More...

void	propagate (int timestamp) const

void	propagate () const

Public Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_VALUE >
void	connect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type newCallback) const
	Call this method to register a non-static method as a callback. More...

void	connect (typename SubjectBaseTraits< EVT, void >::callback_type newCallback) const
	Call this method to register a free function as a callback. More...

void	disconnect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type callback) const
	Disconnect non-static method. More...

void	disconnect (typename SubjectBaseTraits< EVT, void >::callback_type callbackToErase) const
	Disconnect free function. More...

void	propagate (int timestamp) const

void	propagate () const

Public Member Functions inherited from ocra::IFunctionProperties
bool	hasSeparableTimeDependancy (void) const

eFunctionLinearity	getType (void) const

eFunctionConvexity	getConvexityProperty (void) const

int	getContinuityProperty (void) const

const std::string &	getProperty (int i) const

int	getNumberOfProperties (void) const

bool	hasProperty (const std::string &functionProperty) const

bool	isExplicitlyTimeDependant (void) const

Public Member Functions inherited from ocra::NamedInstance
	NamedInstance (const std::string &name)

const std::string &	getName () const

virtual	~NamedInstance ()

Public Member Functions inherited from ocra::AbilitySet
AbilitySet &	add (eFunctionAbility prop)

AbilitySet &	remove (eFunctionAbility prop)

Protected Member Functions
virtual void	updateValue () const

virtual void	doUpdateInputSizeBegin ()

virtual void	doUpdateInputSizeEnd ()

virtual void	doChangeA (const MatrixXd &A)

int	computeDimensionFromInputSize () const

void	doUpdateDimensionBegin (int newDimension)

Protected Member Functions inherited from ocra::LinearFunction
	LinearFunction (Variable &x, int dimension)

virtual void	updateb () const

virtual void	updateJacobian () const

virtual void	doChangeb (const VectorXd &b)

void	inhibitPropagationFromb () const

void	desinhibitPropagationFromb () const

Protected Member Functions inherited from ocra::Function
	Function (Variable &x, int dimension, eFunctionLinearity linearity=LINEARITY_UNDEFINED, eFunctionConvexity convexity=CONVEXITY_UNDEFINED, int continuity=CONTINUITY_UNKNOWN, bool explicitlyTimeDependant=false, bool separableTimeDependancy=true)
	Function Constructor. More...

void	disconnectVariable ()

void	changeFunctionDimension (int newDimension)

void	updateInputSize (int timestamp)

void	resize ()

virtual void	doUpdateDimensionEnd (int oldDimension)

Protected Member Functions inherited from ocra::ObserverBase< EVT_RESIZE >
void	stopPropagation ()
	Call this method from your callbacks to avoid propagation to the bound subject (if any). More...

	ObserverBase ()

	~ObserverBase ()

Protected Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_DEPENDENCIES >
void	stopPropagation ()
	Call this method from your callbacks to avoid propagation to the bound subject (if any). More...

	ObserverBase ()

	~ObserverBase ()

Protected Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_VALUE >
void	stopPropagation ()
	Call this method from your callbacks to avoid propagation to the bound subject (if any). More...

	ObserverBase ()

	~ObserverBase ()

Protected Member Functions inherited from ocra::SubjectBase< EVT_RESIZE >
	SubjectBase ()

	~SubjectBase ()

Protected Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_DEPENDENCIES >
	SubjectBase ()

	~SubjectBase ()

Protected Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_VALUE >
	SubjectBase ()

	~SubjectBase ()

Protected Member Functions inherited from ocra::IFunctionProperties
	IFunctionProperties (eFunctionLinearity linearity=LINEARITY_UNDEFINED, eFunctionConvexity convexity=CONVEXITY_UNDEFINED, int continuity=CONTINUITY_UNKNOWN, bool explicitlyTimeDependant=false, bool separableTimeDependancy=true)
	IFunctionProperties Constructor. More...

void	changeType (eFunctionLinearity newType)

void	changeConvexityProperty (eFunctionConvexity newProperty)

void	changeContinuityProperty (int newProperty)

void	addProperty (const std::string &functionProperty)

void	removeProperty (const std::string &functionProperty)

void	changeExplicitTimeDependancy (bool b)

void	changeSeparableTimeDependancy (bool b)

Protected Member Functions inherited from ocra::AbilitySet
	AbilitySet (const std::vector< bool > &usageSet)

const std::vector< bool > &	getUsageSet () const

	AbilitySet (eFunctionAbility prop0=FUN_VALUE, eFunctionAbility prop1=FUN_VALUE)

	AbilitySet (eFunctionAbility prop0, eFunctionAbility prop1, eFunctionAbility prop2, eFunctionAbility prop3=FUN_VALUE, eFunctionAbility prop4=FUN_VALUE)

	AbilitySet (eFunctionAbility prop0, eFunctionAbility prop1, eFunctionAbility prop2, eFunctionAbility prop3, eFunctionAbility prop4, eFunctionAbility prop5, eFunctionAbility prop6=FUN_VALUE, eFunctionAbility prop7=FUN_VALUE, eFunctionAbility prop8=FUN_VALUE, eFunctionAbility prop9=FUN_VALUE)

Protected Member Functions inherited from ocra::CoupledInputOutputSize
	CoupledInputOutputSize (bool coupledInputOutputSize)

bool	inputAndOutputSizesAreCoupled () const

Protected Attributes
VectorXd	_d1

VectorXd	_d2

double	_defaultDiagonalValue1

double	_defaultDiagonalValue2

double	_defaultbValue

bool	_useDefaultValue

Protected Attributes inherited from ocra::LinearFunction
VectorXd	_b

bool	_bIsUpToDate

Protected Attributes inherited from ocra::Function
Variable &	x

VectorXd &	_value

MatrixXd &	_jacobian

const int &	_dim

Additional Inherited Members
Protected Types inherited from ocra::ObserverBase< EVT_RESIZE >
typedef SubjectBase< EVT >	subject_type

typedef InvokerBase< EVT >	invoker_type

Protected Types inherited from ocra::ObserverBase< EVT_CHANGE_DEPENDENCIES >
typedef SubjectBase< EVT >	subject_type

typedef InvokerBase< EVT >	invoker_type

Protected Types inherited from ocra::ObserverBase< EVT_CHANGE_VALUE >
typedef SubjectBase< EVT >	subject_type

typedef InvokerBase< EVT >	invoker_type

Detailed Description

DoubleDiagonalLinearFunction class.

Warning: None

Equivalent as two DiagonalLinearFunction side by side

Definition at line 32 of file DoubleDiagonalLinearFunction.h.

Member Typedef Documentation

typedef LinearFunction ocra::DoubleDiagonalLinearFunction::functionType_t

Definition at line 36 of file DoubleDiagonalLinearFunction.h.

Constructor & Destructor Documentation

template<class VectorBase1 , class VectorBase2 , class VectorBase3 >

ocra::DoubleDiagonalLinearFunction::DoubleDiagonalLinearFunction	(	Variable &	x,
		const VectorBase1 &	d1,
		const VectorBase2 &	d2,
		const VectorBase3 &	b,
		const bool	useDefaultValue = `false`,
		const double	defaultDiagValue1 = `1.`,
		const double	defaultDiagValue2 = `1.`,
		const double	defaultbValue = `0.`
	)

inline

Definition at line 107 of file DoubleDiagonalLinearFunction.h.

template<class VectorBase >

ocra::DoubleDiagonalLinearFunction::DoubleDiagonalLinearFunction	(	Variable &	x,
		const double	diagonalElementValue1,
		const double	diagonalElementValue2,
		const VectorBase &	b,
		const bool	useDefaultValue = `false`,
		const double	defaultbValue = `0.`
	)

inline

Definition at line 144 of file DoubleDiagonalLinearFunction.h.

template<class VectorBase1 , class VectorBase2 >

ocra::DoubleDiagonalLinearFunction::DoubleDiagonalLinearFunction	(	Variable &	x,
		const VectorBase1 &	d1,
		const VectorBase2 &	d2,
		const double	vectorElementValue,
		const bool	useDefaultValue = `false`,
		const double	defaultValue1 = `1.`,
		const double	defaultValue2 = `1.`
	)

inline

Definition at line 172 of file DoubleDiagonalLinearFunction.h.

ocra::DoubleDiagonalLinearFunction::DoubleDiagonalLinearFunction	(	Variable &	x,
		const double	diagonalElementValue1,
		const double	diagonalElementValue2,
		const double	vectorElementValue,
		const bool	useDefaultValue = `false`
	)

Definition at line 5 of file DoubleDiagonalLinearFunction.cpp.

Member Function Documentation

void ocra::DoubleDiagonalLinearFunction::changeDefaultbValue ( const double v )

virtual

Definition at line 69 of file DoubleDiagonalLinearFunction.cpp.

void ocra::DoubleDiagonalLinearFunction::changeDefaultDiagonalValue1 ( const double v )

virtual

Definition at line 59 of file DoubleDiagonalLinearFunction.cpp.

void ocra::DoubleDiagonalLinearFunction::changeDefaultDiagonalValue2 ( const double v )

virtual

Definition at line 64 of file DoubleDiagonalLinearFunction.cpp.

void ocra::DoubleDiagonalLinearFunction::changeDiagonal1 ( const VectorXd & d )

virtual

Definition at line 27 of file DoubleDiagonalLinearFunction.cpp.

void ocra::DoubleDiagonalLinearFunction::changeDiagonal1	(	const double	diagonalElementValue,
		const bool	changeDefault = `true`
	)

virtual

Definition at line 43 of file DoubleDiagonalLinearFunction.cpp.

void ocra::DoubleDiagonalLinearFunction::changeDiagonal2 ( const VectorXd & d )

virtual

Definition at line 35 of file DoubleDiagonalLinearFunction.cpp.

void ocra::DoubleDiagonalLinearFunction::changeDiagonal2	(	const double	diagonalElementValue,
		const bool	changeDefault = `true`
	)

virtual

Definition at line 51 of file DoubleDiagonalLinearFunction.cpp.

int ocra::DoubleDiagonalLinearFunction::computeDimensionFromInputSize ( ) const

protectedvirtual

Does what it tells...

Reimplemented from ocra::Function.

Definition at line 131 of file DoubleDiagonalLinearFunction.cpp.

void ocra::DoubleDiagonalLinearFunction::doChangeA ( const MatrixXd & A )

protectedvirtual

Methods to be called in ChangeA and Change b

Reimplemented from ocra::LinearFunction.

Definition at line 74 of file DoubleDiagonalLinearFunction.cpp.

void ocra::DoubleDiagonalLinearFunction::doUpdateDimensionBegin ( int newDimension )

protectedvirtual

Methods for pre and post update in case the dimension of the function has changed. Default implementation of doUpdateDimensionEnd does nothing, doUpdateDimensionBegin throws an exception. These methods might throw exceptions when overloaded. Furthermore, doUpdateDimensionEnd() must comply with the post condition of updateDimension(), i.e. let the values of each ability invalidated.

Reimplemented from ocra::Function.

Definition at line 137 of file DoubleDiagonalLinearFunction.cpp.

void ocra::DoubleDiagonalLinearFunction::doUpdateInputSizeBegin ( )

protectedvirtual

Methods for pre and post update in case the variable size has changed. Default implementation of doUpdateInputSizeEnd does nothing, doUpdateInputSizeBegin throws an exception. These methods might throw exceptions when overloaded. Furthermore, doUpdateInputSizeEnd() must comply with the post condition of updateInputSize(), i.e. let the values of each ability invalidated.

Reimplemented from ocra::Function.

Definition at line 90 of file DoubleDiagonalLinearFunction.cpp.

void ocra::DoubleDiagonalLinearFunction::doUpdateInputSizeEnd ( void )

protectedvirtual

This methods ensures _b has the good size at the end of a resize, yet it will not be called in LinearFunction itself because the class does not overload doUpdateInputSizeBegin() which throws an runtime_error by default.

Reimplemented from ocra::LinearFunction.

Definition at line 126 of file DoubleDiagonalLinearFunction.cpp.

double ocra::DoubleDiagonalLinearFunction::getDefaultbValue ( ) const

inline

Definition at line 222 of file DoubleDiagonalLinearFunction.h.

double ocra::DoubleDiagonalLinearFunction::getDefaultDiagonalValue1 ( ) const

inline

Definition at line 212 of file DoubleDiagonalLinearFunction.h.

double ocra::DoubleDiagonalLinearFunction::getDefaultDiagonalValue2 ( ) const

inline

Definition at line 217 of file DoubleDiagonalLinearFunction.h.

const VectorXd & ocra::DoubleDiagonalLinearFunction::getDiagonal1 ( ) const