18 #ifndef HPP_CONSTRAINTS_IMPLICIT_HH
19 # define HPP_CONSTRAINTS_IMPLICIT_HH
26 # include <hpp/util/serialization-fwd.hh>
28 # include <hpp/pinocchio/liegroup-element.hh>
31 namespace constraints {
119 return isEqual (other,
true);
127 std::vector<bool> mask = std::vector<bool>());
243 return equalityIndices_;
285 void init (
const ImplicitWkPtr_t& weak)
292 void computeIndices();
293 void computeActiveRows();
299 std::vector<bool> mask_;
302 std::vector<std::size_t> inequalityIndices_;
304 ImplicitWkPtr_t weak_;
Definition: differentiable-function.hh:53
Definition: implicit-constraint-set.hh:36
Definition: implicit.hh:114
static ImplicitPtr_t create(const DifferentiableFunctionPtr_t &func, ComparisonTypes_t comp, std::vector< bool > mask=std::vector< bool >())
bool checkRightHandSide(LiegroupElementConstRef rhs) const
const DifferentiableFunctionPtr_t & functionPtr() const
Return a reference to function .
Definition: implicit.hh:258
void rightHandSideFromConfig(ConfigurationIn_t config) HPP_CONSTRAINTS_DEPRECATED
void rightHandSideFromConfig(ConfigurationIn_t config, LiegroupElementRef rhs)
void setInactiveRowsToZero(vectorOut_t error) const
virtual ~Implicit()
Definition: implicit.hh:132
const ComparisonTypes_t & comparisonType() const
Return the ComparisonType.
void rightHandSide(vectorIn_t rhs) HPP_CONSTRAINTS_DEPRECATED
virtual bool isEqual(const Implicit &other, bool swapAndTest) const
virtual ImplicitPtr_t copy() const
Copy object and return shared pointer to copy.
const Eigen::RowBlockIndices & equalityIndices() const
Get indices of constraint coordinates that are equality.
Definition: implicit.hh:241
Implicit(const Implicit &other)
Copy constructor.
void comparisonType(const ComparisonTypes_t &comp)
Set the comparison type.
vectorIn_t rightHandSideAt(const value_type &s)
vectorIn_t rightHandSide() const HPP_CONSTRAINTS_DEPRECATED
Implicit()
Definition: implicit.hh:309
Implicit(const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp, std::vector< bool > mask)
void init(const ImplicitWkPtr_t &weak)
Definition: implicit.hh:285
const segments_t & activeRows() const
Definition: implicit.hh:235
static ImplicitPtr_t createCopy(const ImplicitPtr_t &other)
Create a copy and return shared pointer.
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:53
std::vector< ComparisonType > ComparisonTypes_t
Definition: fwd.hh:176
shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
Definition: fwd.hh:101
shared_ptr< Implicit > ImplicitPtr_t
Definition: fwd.hh:163
DifferentiableFunctionSet DifferentiableFunctionStack HPP_CONSTRAINTS_DEPRECATED
Definition: fwd.hh:105
pinocchio::size_type size_type
Definition: fwd.hh:36
std::vector< segment_t > segments_t
Definition: fwd.hh:72
pinocchio::value_type value_type
Definition: fwd.hh:37
bool operator==(const ComparisonTypes_t &v, const internal::ReplicateCompType &r)
Definition: comparison-types.hh:117
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:48
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:94
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:49
pinocchio::vector_t vector_t
Definition: fwd.hh:47
pinocchio::LiegroupElementConstRef LiegroupElementConstRef
Definition: fwd.hh:55
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:54
Definition: active-set-differentiable-function.hh:24