Function_< T >::Constant Class Reference

#include <Function.h>

Inheritance diagram for Function_< T >::Constant:

Public Member Functions
	Constant (T value, int argumentSize=1)
T	calcValue (const RigidBodyDynamics::Math::VectorNd &x) const
T	calcDerivative (const std::vector< int > &derivComponents, const RigidBodyDynamics::Math::VectorNd &x) const
virtual int	getArgumentSize () const
int	getMaxDerivativeOrder () const
Public Member Functions inherited from Function_< T >
virtual	~Function_ ()
virtual T	calcValue (const RigidBodyDynamics::Math::VectorNd &x) const =0
virtual T	calcDerivative (const std::vector< int > &derivComponents, const RigidBodyDynamics::Math::VectorNd &x) const =0
virtual int	getArgumentSize () const =0
virtual int	getMaxDerivativeOrder () const =0

Private Attributes
const int	argumentSize
const T	value

Detailed Description

template<class T>
class RigidBodyDynamics::Addons::Geometry::Function_< T >::Constant

This is a Function_ subclass which simply returns a fixed value, independent of its arguments.

Definition at line 139 of file Function.h.

Constructor & Destructor Documentation

Constant()

Constant ( T  value, int  argumentSize = 1  )

inlineexplicit

Create a Function_::Constant object.

Parameters

value	the value which should be returned by calcValue();
argumentSize	the value which should be returned by getArgumentSize(), with a default of 1.

Definition at line 148 of file Function.h.

Member Function Documentation

calcDerivative()

T calcDerivative ( const std::vector< int > &  derivComponents, const RigidBodyDynamics::Math::VectorNd &  x  ) const

inlinevirtual

Calculate a partial derivative of this function at a particular point.
Which derivative to take is specified by listing the input components with which to take it. For example, if derivComponents=={0}, that indicates a first derivative with respective to component 0. If derivComponents=={0, 0, 0}, that indicates a third derivative with respective to component 0. If derivComponents=={4, 7}, that indicates a partial second derivative with respect to components 4 and 7.

Parameters

derivComponents	The input components with respect to which the derivative should be taken. Its size must be less than or equal to the value returned by getMaxDerivativeOrder().
x	The RigidBodyDynamics::Math::VectorNd of input arguments. Its size must equal the value returned by getArgumentSize().

Returns

The value of the selected derivative, which is of type T.

Implements Function_< T >.

Definition at line 155 of file Function.h.

calcValue()

T calcValue ( const RigidBodyDynamics::Math::VectorNd &  x ) const

inlinevirtual

Calculate the value of this function at a particular point.

Parameters

x	the RigidBodyDynamics::Math::VectorNd of input arguments. Its size must equal the value returned by getArgumentSize().

Implements Function_< T >.

Definition at line 151 of file Function.h.

References MX_Xd_dynamic::size().

getArgumentSize()

virtual int getArgumentSize ( ) const

inlinevirtual

This provides compatibility with std::vector without requiring any copying. Get the number of components expected in the input vector.

Implements Function_< T >.

Definition at line 159 of file Function.h.

getMaxDerivativeOrder()

int getMaxDerivativeOrder ( ) const

inlinevirtual

Get the maximum derivative order this Function_ object can calculate.

Implements Function_< T >.

Definition at line 162 of file Function.h.

Field Documentation

argumentSize

const int argumentSize

private

This provides compatibility with std::vector without requiring any copying.

Definition at line 174 of file Function.h.

value

const T value

private

Definition at line 175 of file Function.h.

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

• addons/geometry/Function.h