20 #ifndef HPP_CONSTRAINTS_COM_BETWEEN_FEET_HH
21 # define HPP_CONSTRAINTS_COM_BETWEEN_FEET_HH
30 namespace constraints {
59 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
67 std::vector <bool> mask = {
true,
true,
true,
true });
76 std::vector <bool> mask = {
true,
true,
true,
true });
85 std::vector <bool> mask);
114 std::vector <bool> mask_;
Definition: com-between-feet.hh:57
virtual void impl_compute(LiegroupElementRef result, ConfigurationIn_t argument) const
virtual void impl_jacobian(matrixOut_t jacobian, ConfigurationIn_t arg) const
static ComBetweenFeetPtr_t create(const std::string &name, const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &jointLeft, const JointPtr_t &jointRight, const vector3_t pointLeft, const vector3_t pointRight, const JointPtr_t &jointReference, const vector3_t pointRef, std::vector< bool > mask={ true, true, true, true })
Return a shared pointer to a new instance.
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW ComBetweenFeetPtr_t create(const std::string &name, const DevicePtr_t &robot, const JointPtr_t &jointLeft, const JointPtr_t &jointRight, const vector3_t pointLeft, const vector3_t pointRight, const JointPtr_t &jointReference, const vector3_t pointRef, std::vector< bool > mask={ true, true, true, true })
Return a shared pointer to a new instance.
ComBetweenFeet(const std::string &name, const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &jointLeft, const JointPtr_t &jointRight, const vector3_t pointLeft, const vector3_t pointRight, const JointPtr_t &jointReference, const vector3_t pointRef, std::vector< bool > mask)
virtual ~ComBetweenFeet()
Definition: com-between-feet.hh:78
Cross product of two expressions.
Definition: symbolic-calculus.hh:303
Difference of two expressions.
Definition: symbolic-calculus.hh:397
Definition: differentiable-function.hh:53
Basic expression representing a COM.
Definition: symbolic-calculus.hh:826
Multiplication of an expression by a scalar.
Definition: symbolic-calculus.hh:485
Sum of two expressions.
Definition: symbolic-calculus.hh:441
Definition: symbolic-calculus.hh:106
HPP_CONSTRAINTS_CB_REF< Class > Ptr_t
Definition: symbolic-calculus.hh:107
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
Eigen::Matrix< value_type, 3, 1 > vector3_t
Definition: fwd.hh:61
Eigen::Matrix< value_type, 3, 3 > matrix3_t
Definition: fwd.hh:60
shared_ptr< ComBetweenFeet > ComBetweenFeetPtr_t
Definition: fwd.hh:113
pinocchio::vector3_t vector3_t
Definition: fwd.hh:40
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:97
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
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:54
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:38
Definition: active-set-differentiable-function.hh:24