20 #ifndef HPP_CONSTRAINTS_RELATIVE_COM_HH
21 # define HPP_CONSTRAINTS_RELATIVE_COM_HH
28 namespace constraints {
59 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
64 std::vector <bool> mask = std::vector<bool>(3,
true))
65 {
return create (
"RelativeCom", robot, joint, reference, mask); }
70 std::vector <bool> mask = std::vector<bool>(3,
true));
75 std::vector <bool> mask = std::vector<bool>(3,
true));
81 std::vector <bool> mask = std::vector<bool> (3,
true));
86 std::vector <bool> mask,
87 const std::string& name);
89 virtual std::ostream&
print (std::ostream& o)
const;
105 std::vector <bool> mask_;
Definition: differentiable-function.hh:53
Definition: relative-com.hh:57
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW RelativeComPtr_t create(const DevicePtr_t &robot, const JointPtr_t &joint, const vector3_t reference, std::vector< bool > mask=std::vector< bool >(3, true))
Return a shared pointer to a new instance.
Definition: relative-com.hh:61
static RelativeComPtr_t create(const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint, const vector3_t reference, std::vector< bool > mask=std::vector< bool >(3, true))
static RelativeComPtr_t create(const std::string &name, const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &joint, const vector3_t reference, std::vector< bool > mask=std::vector< bool >(3, true))
virtual void impl_jacobian(matrixOut_t jacobian, ConfigurationIn_t arg) const
virtual void impl_compute(LiegroupElementRef result, ConfigurationIn_t argument) const
virtual std::ostream & print(std::ostream &o) const
Display object in a stream.
RelativeCom(const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &joint, const vector3_t reference, std::vector< bool > mask, const std::string &name)
static RelativeComPtr_t create(const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &joint, const vector3_t reference, std::vector< bool > mask=std::vector< bool >(3, true))
virtual ~RelativeCom()
Definition: relative-com.hh:82
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
pinocchio::vector3_t vector3_t
Definition: fwd.hh:40
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:97
pinocchio::ComJacobian_t ComJacobian_t
Definition: fwd.hh:50
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:94
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:46
pinocchio::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t
Definition: fwd.hh:99
shared_ptr< RelativeCom > RelativeComPtr_t
Definition: fwd.hh:112
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:54
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:38
Definition: active-set-differentiable-function.hh:24