![]() ![]() | Copyright (c) 2014 CNRS Authors: Florent Lamiraux |
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![]() ![]() ![]() | List of integer intervals |
![]() ![]() ![]() | A view of an Eigen matrix |
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![]() ![]() ![]() | Collection of indices of matrix blocks |
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![]() ![]() ![]() ![]() | Smaller matrix composed by concatenation of the blocks |
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![]() ![]() ![]() ![]() ![]() | Function of the form q -> g (q_out) - f (q_in) |
![]() ![]() ![]() ![]() ![]() | Constraint of relative pose between two frames on a kinematic chain |
![]() ![]() ![]() ![]() ![]() | Relative transformation as a mapping between configuration variables |
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![]() ![]() ![]() ![]() ![]() | Function depending on a subset of parameters |
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![]() ![]() ![]() ![]() ![]() | Constraint of relative pose between two frames on a kinematic chain |
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![]() ![]() ![]() ![]() ![]() ![]() | No line search. Use \(\alpha_i = 1\) |
![]() ![]() ![]() ![]() ![]() ![]() | Implements the backtracking line search algorithm |
![]() ![]() ![]() ![]() ![]() ![]() | The step size is computed using the recursion \( \alpha_{i+1} = \alpha - K \times (\alpha_{max} - \alpha_i) \) where \(K\) and \(\alpha_{max}\) are some constant values |
![]() ![]() ![]() ![]() ![]() ![]() | The step size is computed using the formula \( \alpha_{i} = C - K \times \text{tanh}(a \frac{\|f(\mathbf{q}_i)\|}{\epsilon^2} + b) \), where |
![]() ![]() ![]() ![]() ![]() | Solve a non-linear system equations with explicit and implicit constraints |
![]() ![]() ![]() ![]() ![]() | Solve a system of non-linear equations on a robot configuration |
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![]() ![]() ![]() ![]() | Handle bounds on input variables of a differentiable function |
![]() ![]() ![]() ![]() | Affine function \( f(q) = J * q + b \) |
![]() ![]() ![]() ![]() | Constant function \( f(q) = C \) |
![]() ![]() ![]() ![]() | Constraint on the relative position of the center of mass |
![]() ![]() ![]() ![]() | Square distance between input configuration and reference configuration |
![]() ![]() ![]() ![]() | The function returns a relative transformation between the two "closest" convex shapes it contains |
![]() ![]() ![]() ![]() ![]() | Represents a contact When supportJoint is NULL, the contact is with the environment |
![]() ![]() ![]() ![]() | Complement to full transformation constraint of ConvexShapeContact |
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![]() ![]() ![]() ![]() | Set of differentiable functions |
![]() ![]() ![]() ![]() | Differentiable function |
![]() ![]() ![]() ![]() | Distance between two sets of objects |
![]() ![]() ![]() ![]() | Distance between two sets of objects |
![]() ![]() ![]() ![]() | Set of explicit constraints |
![]() ![]() ![]() ![]() | Explicit numerical constraint |
![]() ![]() ![]() ![]() | GenericTransformation class encapsulates 6 possible differentiable functions: Position, Orientation, Transformation and their relative versions RelativePosition, RelativeOrientation, RelativeTransformation |
![]() ![]() ![]() ![]() | Set of implicit constraints |
![]() ![]() ![]() ![]() | This class represents a numerical constraint with the following format
\begin{equation} f(q) \bowtie rhs \end{equation} , where \(\bowtie\) is one of the following comparison operators: |
![]() ![]() ![]() ![]() | Implementation of constraint specific to locked joint |
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![]() ![]() ![]() ![]() | Constraint on the relative position of the center of mass |
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![]() ![]() ![]() ![]() | Abstract class defining a basic common interface |
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![]() ![]() ![]() ![]() | Base class for classes representing an operation |
![]() ![]() ![]() ![]() | Cross product of two expressions |
![]() ![]() ![]() ![]() | Scalar product of two expressions |
![]() ![]() ![]() ![]() | Difference of two expressions |
![]() ![]() ![]() ![]() | Sum of two expressions |
![]() ![]() ![]() ![]() | Multiplication of an expression by a scalar |
![]() ![]() ![]() ![]() | Multiplication of an expression by a rotation matrix |
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![]() ![]() ![]() ![]() | Main abstract class |
![]() ![]() ![]() ![]() | Basic expression representing a point in a joint frame |
![]() ![]() ![]() ![]() | Basic expression representing a vector in a joint frame |
![]() ![]() ![]() ![]() | Basic expression mapping a function as an expression |
![]() ![]() ![]() ![]() | Basic expression representing a static point |
![]() ![]() ![]() ![]() | Basic expression representing a COM |
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![]() ![]() ![]() ![]() | Matrix having Expression elements |
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