17 #ifndef HPP_CONSTRAINTS_EXPLICIT_HH
18 # define HPP_CONSTRAINTS_EXPLICIT_HH
23 namespace constraints {
149 std::vector<bool> mask = std::vector<bool>());
158 return inputToOutput_;
169 return outputVelocity_;
179 return inputVelocity_;
231 std::vector<bool> mask);
247 std::vector<bool> mask);
253 void init (
const ExplicitWkPtr_t& weak);
264 ExplicitWkPtr_t weak_;
Definition: explicit.hh:119
Explicit()
Definition: explicit.hh:262
const segments_t & outputVelocity() const
Get output degrees of freedom.
Definition: explicit.hh:167
segments_t inputVelocity_
Definition: explicit.hh:259
const segments_t & inputConf() const
Get input configuration variables.
Definition: explicit.hh:172
Explicit(const DifferentiableFunctionPtr_t &implicitFunction, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity, const ComparisonTypes_t &comp, std::vector< bool > mask)
(const LiegroupSpacePtr_t&, const DifferentiableFunctionPtr_t&, const segments_t& inputConf,...
const segments_t & inputVelocity() const
Get input degrees of freedom.
Definition: explicit.hh:177
Explicit(const Explicit &other)
Copy constructor.
Explicit(const LiegroupSpacePtr_t &configSpace, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity, const ComparisonTypes_t &comp, std::vector< bool > mask)
segments_t outputVelocity_
Definition: explicit.hh:260
virtual ImplicitPtr_t copy() const
Copy object and return shared pointer to copy.
segments_t inputConf_
Definition: explicit.hh:257
DifferentiableFunctionPtr_t explicitFunction() const
Definition: explicit.hh:156
DifferentiableFunctionPtr_t inputToOutput_
Definition: explicit.hh:256
static ExplicitPtr_t create(const LiegroupSpacePtr_t &configSpace, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity, const ComparisonTypes_t &comp=ComparisonTypes_t(), std::vector< bool > mask=std::vector< bool >())
const segments_t & outputConf() const
Get output configuration variables.
Definition: explicit.hh:162
virtual void outputValue(LiegroupElementRef result, vectorIn_t qin, LiegroupElementConstRef rhs) const
virtual void jacobianOutputValue(vectorIn_t qin, LiegroupElementConstRef f_value, LiegroupElementConstRef rhs, matrixOut_t jacobian) const
static ExplicitPtr_t createCopy(const ExplicitPtr_t &other)
Create a copy and return shared pointer.
segments_t outputConf_
Definition: explicit.hh:258
void init(const ExplicitWkPtr_t &weak)
Definition: implicit.hh:114
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
std::vector< ComparisonType > ComparisonTypes_t
Definition: fwd.hh:176
shared_ptr< Explicit > ExplicitPtr_t
Definition: fwd.hh:179
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:57
shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
Definition: fwd.hh:101
shared_ptr< Implicit > ImplicitPtr_t
Definition: fwd.hh:163
std::vector< segment_t > segments_t
Definition: fwd.hh:72
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:48
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:46
pinocchio::LiegroupElementConstRef LiegroupElementConstRef
Definition: fwd.hh:55
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:54
Definition: active-set-differentiable-function.hh:24