roboptim::capsule::Volume Class Reference

Capsule volume function. More...

#include <roboptim/capsule/volume.hh>

Inheritance diagram for roboptim::capsule::Volume:

Collaboration diagram for roboptim::capsule::Volume:

Public Member Functions
	Volume (std::string name="capsule volume") throw ()
	Constructor. More...
	~Volume () throw ()

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

Detailed Description

Capsule volume function.

This class computes the volume of a capsule defined by a segment and a radius.

Constructor & Destructor Documentation

roboptim::capsule::Volume::Volume	(	std::string	name = "capsule volume"	)
throw	(
	)

Constructor.

roboptim::capsule::Volume::~Volume	(		)
throw	(
	)

Member Function Documentation

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

protectedvirtual

Compute the volume of 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.

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

protectedvirtual

Compute gradient of the capsule volume with respect to the argument vector.