20 #ifndef HPP_CONSTRAINTS_CONFIGURATION_CONSTRAINT_HH 21 # define HPP_CONSTRAINTS_CONFIGURATION_CONSTRAINT_HH 23 # include <Eigen/Core> 29 namespace constraints {
35 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
41 std::vector <bool> mask = std::vector <bool> (0));
74 std::ostream& print (std::ostream& o)
const;
76 typedef Eigen::Array <bool, Eigen::Dynamic, 1> EigenBoolVector_t;
83 #endif // HPP_CONSTRAINTS_CONFIGURATION_CONSTRAINT_HH pinocchio::vector_t vector_t
Definition: fwd.hh:47
shared_ptr< ConfigurationConstraint > ConfigurationConstraintPtr_t
Definition: fwd.hh:128
Definition: active-set-differentiable-function.hh:24
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:97
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:53
Square distance between input configuration and reference configuration.
Definition: configuration-constraint.hh:32
const vector_t & weights() const
Definition: configuration-constraint.hh:57
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:94
virtual ~ConfigurationConstraint()
Definition: configuration-constraint.hh:50
Definition: differentiable-function.hh:52
const LiegroupElement & goal() const
Definition: configuration-constraint.hh:61
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:54
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:46