roboptim::capsule::DistanceCapsulePoint Class Reference

Distance to point RobOptim function. More...

#include <roboptim/capsule/distance-capsule-point.hh>

Inheritance diagram for roboptim::capsule::DistanceCapsulePoint:

Collaboration diagram for roboptim::capsule::DistanceCapsulePoint:

Public Member Functions
	DistanceCapsulePoint (const point_t &point, std::string name="distance to point") throw ()
	Constructor. More...
	~DistanceCapsulePoint () throw ()
virtual const point_t &	point () const throw ()
	Get point attribute. More...

Protected Member Functions
virtual void	impl_compute (result_t &result, const argument_t &argument) const throw ()
	Computes the distance from capsule to a point. More...
virtual void	impl_gradient (gradient_t &gradient, const argument_t &argument, size_type functionId=0) const throw ()
	Compute of the distance gradient with respect to the capsule parameters. More...

Detailed Description

Distance to point RobOptim function.

Constructor & Destructor Documentation

roboptim::capsule::DistanceCapsulePoint::DistanceCapsulePoint	(	const point_t &	point,
		std::string	name = "distance to point"
	)
throw	(
	)

Constructor.

Parameters

point

point that will be used in computing distance between the capsule and the point.

roboptim::capsule::DistanceCapsulePoint::~DistanceCapsulePoint	(		)
throw	(
	)

Member Function Documentation

void roboptim::capsule::DistanceCapsulePoint::impl_compute ( result_t &  result, const argument_t &  argument  ) const throw ( )

protectedvirtual

Computes the distance from capsule to a point.

If the result is negative, the point is inside the capsule, otherwise it is outside the capsule.

Parameters

argument

vector containing the capsule parameters. It contains in this order: the segment first end point coordinates, the segment second end point coordinates, the capsule radius.

References roboptim::capsule::distancePointToSegment().

void roboptim::capsule::DistanceCapsulePoint::impl_gradient ( gradient_t &  gradient, const argument_t &  argument, size_type  functionId = 0  ) const throw ( )

protectedvirtual

Compute of the distance gradient with respect to the capsule parameters.

Parameters

argument

vector containing the capsule parameters. It contains in this order: the segment first end point coordinates, the segment second end point coordinates, the capsule radius.

References roboptim::capsule::projectionOnSegment().

const point_t & roboptim::capsule::DistanceCapsulePoint::point ( ) const throw ( )

virtual

Get point attribute.