base::ExpressionNode Class Reference

Inheritance diagram for base::ExpressionNode:

[legend]Collaboration diagram for base::ExpressionNode:

[legend]List of all members.

Public Types
enum	NodeType {   Sum, Difference, Product, Quotient,   Negative, Constant, Variable, Sine,   Cosine, Leaf = 1024, UnaryOp = 2048, BinaryOp = 4096 }
Public Member Functions
	ExpressionNode ()
virtual NodeType	type () const=0
	get NodeType
bool	isOperator () const
bool	isUnaryOp () const
bool	isBinaryOp () const
NodeType	opType () const
Real	evaluate (const Vector &params) const
ref< ExpressionNode >	differentiate (Int withRespectToIndex) const
virtual String	toString () const=0
virtual bool	isSameKindAs (const ReferencedObject &) const
virtual bool	isSameKindAs (const Object &) const
virtual String	className () const=0
void	reference () const
bool	unreference () const
const int	referenceCount () const
void	enableOnUnreferenceCall (bool enabled)
virtual void	onUnreference () const
virtual void	serialize (Serializer &s)=0
	read or write object state to Serializer
Static Public Member Functions
template<class BaseClass, class DerivedClass> void	registerSerializableInstantiator (const SerializableInstantiator &instantiator)
void	registerSerializableInstantiator (const String &baseClassTypeName, const String &derivedClassTypeName, const SerializableInstantiator &instantiator)
template<class BaseClass> const SerializableInstantiator &	getSerializableInstantiator (const String &derivedClassTypeName)
const SerializableInstantiator &	getSerializableInstantiator (const String &baseClassTypeName, const String &derivedClassTypeName)
Protected Member Functions
virtual void	cacheValue (const Vector &params) const=0
	perform evaluation with params and store in value (& set valueCached true)
virtual void	resetCache () const=0
	set valueCached false and call resetCache() on children
virtual void	cacheDerivative (Int withRespectToIndex) const=0
	perform differentiation and cache in derivative (& set set derivCached)
virtual void	resetDerivCached () const=0
	set derivCached false and call resetDerivCached() on children
virtual void	operationCounts (Int &addsub, Int &multdiv, Int &trig) const=0
Protected Attributes
bool	valueCached
Real	value
bool	derivCached
Int	derivWithRespToIndex
ref< ExpressionNode >	derivative
int	_refCount
bool	onUnreferenceEnabled
Friends
class	BinaryOpExpression
class	UnaryOpExpression
class	Expression

---

Member Enumeration Documentation

enum base::ExpressionNode::NodeType

Enumeration values: Sum  Difference  Product  Quotient  Negative  Constant  Variable  Sine  Cosine  Leaf  UnaryOp  BinaryOp  Definition at line 49 of file ExpressionNode. Referenced by opType(), base::VariableExpression::type(), base::SumExpression::type(), base::SinExpression::type(), base::QuotientExpression::type(), base::ProductExpression::type(), base::NegateExpression::type(), base::DifferenceExpression::type(), base::CosExpression::type(), and base::ConstantExpression::type().

---

Constructor & Destructor Documentation

base::ExpressionNode::ExpressionNode (   )  [inline]

Definition at line 46 of file ExpressionNode. References derivCached, and valueCached.

---

Member Function Documentation

virtual void base::ExpressionNode::cacheDerivative (  Int  withRespectToIndex  )  const [protected, pure virtual]

perform differentiation and cache in derivative (& set set derivCached) Implemented in base::BinaryOpExpression, base::ConstantExpression, base::CosExpression, base::DifferenceExpression, base::NegateExpression, base::ProductExpression, base::QuotientExpression, base::SinExpression, base::SumExpression, base::UnaryOpExpression, and base::VariableExpression. Referenced by differentiate().

virtual void base::ExpressionNode::cacheValue (  const Vector &  params  )  const [protected, pure virtual]

perform evaluation with params and store in value (& set valueCached true) Implemented in base::BinaryOpExpression, base::ConstantExpression, base::CosExpression, base::DifferenceExpression, base::NegateExpression, base::ProductExpression, base::QuotientExpression, base::SinExpression, base::SumExpression, base::UnaryOpExpression, and base::VariableExpression. Referenced by evaluate().

virtual String base::Object::className (   )  const [pure virtual, inherited]

return the name of the object's class type. Must be defined by derived classes. Implemented in base::Application, base::BinarySerializer, base::Cache, base::CacheDirectory, base::CacheFile, base::ConstantExpression, base::CosExpression, base::DifferenceExpression, base::Directory, base::Expression, base::Externalizer, base::File, base::LineSegPathRep, base::LineSegTrajectoryRep, base::Math, base::NegateExpression, base::ParametricPathRep, base::ParametricTrajectoryRep, base::Path, base::PathComponent, base::PathName, base::ProductExpression, base::QuotientExpression, base::SimpleXMLSerializer, base::SinExpression, base::StdFileSystem, base::SumExpression, base::Time, base::Trajectory, base::Universe, base::VariableExpression, base::VDirectory, base::WaypointPathRep, base::WaypointTrajectoryRep, base::World, gfx::IndexedPoint3Array, gfx::OSGWorld, gfx::TriangleIterator, gfx::VisualPath, gfx::VisualTriangles, gfx::VisualTriangles::TriangleArrayIteratorState, physics::Body, physics::Box, physics::Capsule, physics::CollidableGroup, physics::CollisionModel::ModelState, physics::CollisionState, physics::Cone, physics::Cylinder, physics::DynamicSpatial, physics::GJKCollisionDetector, physics::GJKCollisionDetector::GJKCollisionState, physics::GJKCollisionModel, physics::HeightField, physics::LODTerrain, physics::MassProperties, physics::Material, physics::NullCollisionResponseHandler, physics::OBBCollisionDetector, physics::OBBCollisionDetector::OBBCollisionState, physics::OBBCollisionModel, physics::ODEBallJoint, physics::ODECollidableBody, physics::ODECollidableBody::BodyState, physics::ODECollidableGroup, physics::ODECollisionCuller, physics::ODECollisionDetector, physics::ODECollisionDetector::ODECollisionState, physics::ODECollisionModel, physics::ODECollisionResponseHandler, physics::ODEConstraintGroup, physics::ODEContactConstraint, physics::ODEDoubleHingeJoint, physics::ODEFixedConstraint, physics::ODEHingeJoint, physics::ODEMotor, physics::ODESliderJoint, physics::ODESolid, physics::ODESolidConnectedCollidableBody, physics::ODESolidSystem, physics::ODEUniversalJoint, physics::Polyhedron, physics::Polyhedron::Vertex, physics::Polyhedron::Edge, physics::Polyhedron::Polygon, physics::SimpleCollisionCuller, physics::SimpleTerrain, physics::Solid, physics::SOLIDCollisionDetector, physics::SOLIDCollisionDetector::SOLIDCollisionState, physics::SOLIDCollisionModel, physics::SolidCollisionResponseHandler, physics::SpatialGroup, physics::SpatialTransform, physics::Sphere, physics::Torus, physics::VisualDebugUtil, robot::AggregateControlInterface, robot::control::ControllableAdaptor, robot::control::ControllableAdaptor::AdaptorControlInterface, robot::control::kinematics::AnalyticLagrangianFSBetaOptimizer, robot::control::kinematics::AnalyticLagrangianNullSpaceBetaOptimizer, robot::control::kinematics::BetaFormConstraints::BetaFormConstraint, robot::control::kinematics::BetaFormConstraints, robot::control::kinematics::IKOR, robot::control::kinematics::IKOR::JointLimitBetaConstraint, robot::control::kinematics::IKOR::PushAwayBetaConstraint, robot::control::kinematics::IKOR::RankLossBetaConstraint, robot::control::kinematics::IKORController, robot::control::kinematics::IKORController::EEPositionControlInterface, robot::control::kinematics::IKORController::LinkPositionsControlInterface, robot::control::kinematics::IKORFullSpaceSolver, robot::control::kinematics::LeastNormIKSolver, robot::control::kinematics::MPPseudoInvSolver, robot::control::kinematics::OldIKOR, robot::control::kinematics::ReferenceOpVectorFormObjective, robot::control::kinematics::SVDFullSpaceSolver, robot::control::ManipulatorPIDPositionController, robot::control::ManipulatorPIDPositionController::PositionInterface, robot::JFKengine, robot::KinematicChain::Link, robot::KinematicChain, robot::ManipulatorDescription, robot::ManipulatorJointTrajectory, robot::NumericKinematicEvaluator, robot::PlatformDescription, robot::RobotDescription, robot::sim::BasicEnvironment, robot::sim::BasicEnvironment::Tool, robot::sim::BasicEnvironment::Obstacle, robot::sim::Environment, robot::sim::IKORTest, robot::sim::IKORTest::Test, robot::sim::IKORTester, robot::sim::SimulatedBasicEnvironment, robot::sim::SimulatedKinematicChain::ProximityCollisionResponseHandler, robot::sim::SimulatedManipulatorDescription, robot::sim::SimulatedPlatform, robot::sim::SimulatedRobot, robot::sim::SimulatedRobot::ManipulatorControlInterface, robot::sim::SimulatedRobot::ToolControlInterface, robot::sim::SimulatedRobot::PlatformControlInterface, robot::sim::SimulatedRobot::ProximitySensorInterface, robot::sim::SimulatedRobotDescription, robot::sim::SimulatedSerialManipulator, robot::sim::SimulatedTool, robot::sim::TestBasicEnvironment, robot::sim::VisualIKORTest, robot::TestRobot, robot::TestRobot::ManipulatorControlInterface, robot::TestRobot::ToolControlInterface, robot::TestRobot::PlatformControlInterface, robot::TestRobot::ProximitySensorInterface, and robot::ToolDescription.

ref<ExpressionNode> base::ExpressionNode::differentiate (  Int  withRespectToIndex  )  const [inline]

Definition at line 67 of file ExpressionNode. References Assert, cacheDerivative(), derivative, derivCached, derivWithRespToIndex, and base::Int.

void base::Referenced::enableOnUnreferenceCall (  bool  enabled  )  [inline, inherited]

If enabled, each call to unreference() will also call virtual method onUnreference() Definition at line 115 of file Referenced. References base::Referenced::onUnreferenceEnabled.

Real base::ExpressionNode::evaluate (  const Vector &  params  )  const [inline]

Definition at line 60 of file ExpressionNode. References cacheValue(), base::Real, value, valueCached, and base::Vector.

const SerializableInstantiator& base::Serializable::getSerializableInstantiator (  const String &  baseClassTypeName, const String &  derivedClassTypeName )  [static, inherited]

template<class BaseClass> const SerializableInstantiator& base::Serializable::getSerializableInstantiator (  const String &  derivedClassTypeName  )  [inline, static, inherited]

Definition at line 71 of file Serializable. References base::String.

bool base::ExpressionNode::isBinaryOp (   )  const [inline]

Definition at line 57 of file ExpressionNode. References BinaryOp, base::Int, and type(). Referenced by isOperator().

bool base::ExpressionNode::isOperator (   )  const [inline]

Definition at line 55 of file ExpressionNode. References isBinaryOp(), and isUnaryOp().

virtual bool base::Object::isSameKindAs (  const Object &   )  const [inline, virtual, inherited]

Definition at line 47 of file Object.

virtual bool base::ReferencedObject::isSameKindAs (  const ReferencedObject &   )  const [inline, virtual, inherited]

Definition at line 52 of file ReferencedObject.

bool base::ExpressionNode::isUnaryOp (   )  const [inline]

Definition at line 56 of file ExpressionNode. References base::Int, type(), and UnaryOp. Referenced by isOperator().

virtual void base::Referenced::onUnreference (   )  const [inline, virtual, inherited]

Called by unreference() if enabled via enableOnUnreferenceCall(true). Typically overridden in subclasses that wish to know about unreference() calls - for example to handle manually breaking cyclic references Reimplemented in robot::control::ControllableAdaptor::AdaptorControlInterface, and robot::control::ControllableAdaptor. Definition at line 121 of file Referenced. Referenced by base::Referenced::unreference().

virtual void base::ExpressionNode::operationCounts (  Int &  addsub, Int &  multdiv, Int &  trig )  const [protected, pure virtual]

Implemented in base::BinaryOpExpression, base::ConstantExpression, base::CosExpression, base::DifferenceExpression, base::NegateExpression, base::ProductExpression, base::QuotientExpression, base::SinExpression, base::SumExpression, base::UnaryOpExpression, and base::VariableExpression.

NodeType base::ExpressionNode::opType (   )  const [inline]

Definition at line 58 of file ExpressionNode. References base::Int, Leaf, NodeType, and type().

void base::Referenced::reference (   )  const [inline, inherited]

Increment the reference count by one, indicating that this object has another pointer which is referencing it. Definition at line 65 of file Referenced. References base::Referenced::_refCount.

const int base::Referenced::referenceCount (   )  const [inline, inherited]

Return the number pointers currently referencing this object. Definition at line 112 of file Referenced. References base::Referenced::_refCount. Referenced by robot::control::ControllableAdaptor::AdaptorControlInterface::onUnreference().

void base::Serializable::registerSerializableInstantiator (  const String &  baseClassTypeName, const String &  derivedClassTypeName, const SerializableInstantiator &  instantiator )  [static, inherited]

template<class BaseClass, class DerivedClass> void base::Serializable::registerSerializableInstantiator (  const SerializableInstantiator &  instantiator  )  [inline, static, inherited]

Definition at line 62 of file Serializable.

virtual void base::ExpressionNode::resetCache (   )  const [protected, pure virtual]

set valueCached false and call resetCache() on children Implemented in base::BinaryOpExpression, base::ConstantExpression, base::UnaryOpExpression, and base::VariableExpression.

virtual void base::ExpressionNode::resetDerivCached (   )  const [protected, pure virtual]

set derivCached false and call resetDerivCached() on children Implemented in base::BinaryOpExpression, base::ConstantExpression, base::UnaryOpExpression, and base::VariableExpression.

virtual void base::Serializable::serialize (  Serializer &  s  )  [pure virtual, inherited]

read or write object state to Serializer Implemented in base::BinaryOpExpression, base::ConstantExpression, base::Expression, base::LineSegPathRep, base::LineSegTrajectoryRep, base::ParametricPathRep, base::ParametricTrajectoryRep, base::Path, base::Trajectory, base::UnaryOpExpression, base::VariableExpression, base::WaypointPathRep, base::WaypointTrajectoryRep, physics::Box, physics::Capsule, physics::Cone, physics::Cylinder, physics::LODTerrain, physics::Polyhedron::Vertex, physics::Polyhedron::Edge, physics::Polyhedron::Polygon, physics::Polyhedron, physics::Sphere, physics::Torus, robot::KinematicChain::Link, robot::KinematicChain, and robot::ManipulatorJointTrajectory.

virtual String base::ExpressionNode::toString (   )  const [pure virtual]

Implemented in base::ConstantExpression, base::CosExpression, base::DifferenceExpression, base::NegateExpression, base::ProductExpression, base::QuotientExpression, base::SinExpression, base::SumExpression, and base::VariableExpression. Referenced by base::operator<<().

virtual NodeType base::ExpressionNode::type (   )  const [pure virtual]

get NodeType Implemented in base::ConstantExpression, base::CosExpression, base::DifferenceExpression, base::NegateExpression, base::ProductExpression, base::QuotientExpression, base::SinExpression, base::SumExpression, and base::VariableExpression. Referenced by isBinaryOp(), isUnaryOp(), and opType().

bool base::Referenced::unreference (   )  const [inline, inherited]

Decrement the reference count by one, indicating that a pointer to this object is referencing it. If the refence count goes to zero, it is assumed that this object is nolonger referenced and is automatically deleted. Definition at line 81 of file Referenced. References base::Referenced::_refCount, Exception, base::Referenced::onUnreference(), and base::Referenced::onUnreferenceEnabled.

---

Friends And Related Function Documentation

friend class BinaryOpExpression [friend]

Definition at line 93 of file ExpressionNode.

friend class Expression [friend]

Reimplemented in base::BinaryOpExpression, base::ConstantExpression, base::CosExpression, base::NegateExpression, base::UnaryOpExpression, and base::VariableExpression. Definition at line 95 of file ExpressionNode.

friend class UnaryOpExpression [friend]

Definition at line 94 of file ExpressionNode.

---

Member Data Documentation

int base::Referenced::_refCount [mutable, protected, inherited]

Definition at line 136 of file Referenced. Referenced by base::Referenced::reference(), base::Referenced::referenceCount(), base::Referenced::Referenced(), base::Referenced::unreference(), and base::Referenced::~Referenced().

ref<ExpressionNode> base::ExpressionNode::derivative [mutable, protected]

Definition at line 89 of file ExpressionNode. Referenced by differentiate().

bool base::ExpressionNode::derivCached [mutable, protected]

Definition at line 87 of file ExpressionNode. Referenced by differentiate(), and ExpressionNode().

Int base::ExpressionNode::derivWithRespToIndex [mutable, protected]

Definition at line 88 of file ExpressionNode. Referenced by differentiate().

bool base::Referenced::onUnreferenceEnabled [protected, inherited]

Definition at line 137 of file Referenced. Referenced by base::Referenced::enableOnUnreferenceCall(), base::Referenced::Referenced(), and base::Referenced::unreference().

Real base::ExpressionNode::value [mutable, protected]

Definition at line 82 of file ExpressionNode. Referenced by evaluate().

bool base::ExpressionNode::valueCached [mutable, protected]

Definition at line 81 of file ExpressionNode. Referenced by evaluate(), and ExpressionNode().

---

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

• base/ExpressionNode

---