17 #ifndef HPP_CONSTRAINTS_FUNCTION_OF_PARAMETER_SUBSET_HH
18 # define HPP_CONSTRAINTS_FUNCTION_OF_PARAMETER_SUBSET_HH
23 namespace constraints {
73 g_->value(y, arg.segment (sa_.first, sa_.second));
78 g_->jacobian(J.middleCols (sd_.first, sd_.second),
79 arg.segment (sa_.first, sa_.second));
82 std::ostream&
print (std::ostream& os)
const;
Definition: differentiable-function.hh:53
Definition: of-parameter-subset.hh:41
void impl_compute(LiegroupElementRef y, vectorIn_t arg) const
User implementation of function evaluation.
Definition: of-parameter-subset.hh:71
void impl_jacobian(matrixOut_t J, vectorIn_t arg) const
Definition: of-parameter-subset.hh:76
const segment_t sa_
Definition: of-parameter-subset.hh:85
std::ostream & print(std::ostream &os) const
Display object in a stream.
static OfParameterSubsetPtr_t create(const DifferentiableFunctionPtr_t &g, const size_type &nArgs, const size_type &nDers, const segment_t &inArgs, const segment_t &inDers)
Definition: of-parameter-subset.hh:51
DifferentiableFunctionPtr_t g_
Definition: of-parameter-subset.hh:84
OfParameterSubset(const DifferentiableFunctionPtr_t &g, const size_type &nArgs, const size_type &nDers, const segment_t &inArgs, const segment_t &inDers)
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
shared_ptr< OfParameterSubset > OfParameterSubsetPtr_t
Definition: fwd.hh:208
shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
Definition: fwd.hh:101
std::pair< size_type, size_type > segment_t
Definition: fwd.hh:71
pinocchio::size_type size_type
Definition: fwd.hh:36
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:48
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:46
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:54
Definition: active-set-differentiable-function.hh:24