Klamp't
0.8.1
|
#include <NumericalConstraint.h>
Public Member Functions | |
CollisionConstraint (Robot &robot, Geometry::AnyCollisionGeometry3D &geom) | |
virtual string | Label () const |
virtual string | Label (int i) const |
virtual int | NumDimensions () const |
virtual void | PreEval (const Vector &x) |
virtual void | Eval (const Vector &x, Vector &v) |
virtual Real | Eval_i (const Vector &x, int i) |
virtual void | Jacobian (const Vector &x, Matrix &J) |
virtual void | Jacobian_i (const Vector &x, int i, Vector &Ji) |
virtual void | Hessian_i (const Vector &x, int i, Matrix &Hi) |
virtual bool | Satisfies_i (const Vector &x, int i, Real d=Zero) |
Public Attributes | |
Robot & | robot |
Geometry::AnyCollisionGeometry3D & | geometry |
vector< DistanceQuery > | query |
ArrayMapping | activeDofs |
@