LinearFunction class. More...

#include <LinearFunction.h>

Inheritance diagram for ocra::LinearFunction:

Collaboration diagram for ocra::LinearFunction:

Public Types
typedef Function	functionType_t

Public Member Functions
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
	LinearFunction (Variable &x, int dimension)

virtual void	updateb () const

virtual void	doUpdateInputSizeEnd ()


virtual void	updateValue () const

virtual void	updateJacobian () const


virtual void	doChangeA (const MatrixXd &A)

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 int	computeDimensionFromInputSize () const

virtual void	doUpdateInputSizeBegin ()

virtual void	doUpdateDimensionBegin (int newDimension)

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	_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

LinearFunction class.

Author: Escande Adrien

Warning: None

A linear function Ax+b. The class is implemented for A et b are constant, but can be overloaded for A and b being functions of other parameters. The updateValue ensure to take A and b up-to-date (provided the methods to update are correct).

Definition at line 37 of file LinearFunction.h.

Member Typedef Documentation

typedef Function ocra::LinearFunction::functionType_t

Definition at line 42 of file LinearFunction.h.

Constructor & Destructor Documentation

ocra::LinearFunction::LinearFunction	(	Variable &	x,
		int	dimension
	)

protected

A light constructor for derived class

Definition at line 11 of file LinearFunction.cpp.

template<class Derived , class VectorBase >

ocra::LinearFunction::LinearFunction	(	Variable &	x,
		const MatrixBase< Derived > &	A,
		const VectorBase &	b
	)

inline

Constructor for A and b constant

Definition at line 118 of file LinearFunction.h.

ocra::LinearFunction::~LinearFunction ( )

Definition at line 22 of file LinearFunction.cpp.

Member Function Documentation

void ocra::LinearFunction::changeA ( const MatrixXd & A )

Definition at line 41 of file LinearFunction.cpp.

void ocra::LinearFunction::changeb ( const VectorXd & b )

Definition at line 49 of file LinearFunction.cpp.

void ocra::LinearFunction::desinhibitPropagationFromb ( ) const

protected

Definition at line 101 of file LinearFunction.cpp.

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

protectedvirtual

Methods to be called in ChangeA and Change b

Reimplemented in ocra::DiagonalLinearFunction, ocra::DoubleDiagonalLinearFunction, ocra::IdentityFunction, and ocra::SumOfLinearFunctions.

Definition at line 57 of file LinearFunction.cpp.

void ocra::LinearFunction::doChangeb ( const VectorXd & b )

protectedvirtual

Reimplemented in ocra::SumOfLinearFunctions.

Definition at line 62 of file LinearFunction.cpp.

void ocra::LinearFunction::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::Function.

Reimplemented in ocra::DiagonalLinearFunction, ocra::DoubleDiagonalLinearFunction, ocra::FullDynamicEquationFunction, ocra::IdentityFunction, ocra::DynamicEquationFunction, and ocra::VariableChiFunction.

Definition at line 90 of file LinearFunction.cpp.

const MatrixXd & ocra::LinearFunction::getA ( void ) const

getters/setters for A and b

Precondition: A and b must have the size of the data they replace.

Definition at line 26 of file LinearFunction.cpp.

const VectorXd & ocra::LinearFunction::getb ( void ) const

Definition at line 31 of file LinearFunction.cpp.

void ocra::LinearFunction::inhibitPropagationFromb ( ) const

protected

Inhibit/Desinhibit the fact that a call to invalidateb triggers a EVT_CHANGE_VALUE event, which is done by default. This is meant to prevent multiple propagation of EVT_CHANGE_VALUE in case of complex update dependencies.

Definition at line 96 of file LinearFunction.cpp.

void ocra::LinearFunction::invalidateb ( int timestamp )

Invalidate the value of b. Meant to be used as a callback.

Definition at line 67 of file LinearFunction.cpp.

void ocra::LinearFunction::updateb ( ) const

protectedvirtual

Update the value of b. Does nothing in LinearFunction. It is provided so that derived class may overload it.

Reimplemented in ocra::ReducedContactAvoidanceFunction, ocra::ReducedJointLimitFunction, ocra::FullContactAvoidanceFunction, ocra::FullJointLimitFunction, ocra::ContactAvoidanceFunction, ocra::LinearTask, ocra::FullDynamicEquationFunction, ocra::DynamicEquationFunction, ocra::TorqueLimitFunction, and ocra::SumOfLinearFunctions.

Definition at line 85 of file LinearFunction.cpp.

void ocra::LinearFunction::updateJacobian ( ) const

protectedvirtual

Reimplemented in ocra::ReducedJointLimitFunction, ocra::FullContactAvoidanceFunction, ocra::ContactAvoidanceFunction, ocra::LinearTask, ocra::FullDynamicEquationFunction, ocra::DynamicEquationFunction, ocra::TorqueLimitFunction, and ocra::SumOfLinearFunctions.

Definition at line 80 of file LinearFunction.cpp.

void ocra::LinearFunction::updateValue ( ) const

protectedvirtual

Overloads of the Function methods

Reimplemented in ocra::DiagonalLinearFunction, ocra::DoubleDiagonalLinearFunction, and ocra::IdentityFunction.

Definition at line 74 of file LinearFunction.cpp.

Member Data Documentation

VectorXd ocra::LinearFunction::_b

mutableprotected

Definition at line 109 of file LinearFunction.h.

bool ocra::LinearFunction::_bIsUpToDate

mutableprotected

Definition at line 110 of file LinearFunction.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation