29 #ifndef HPP_CONSTRAINTS_IMPLICIT_HH
30 #define HPP_CONSTRAINTS_IMPLICIT_HH
36 #include <hpp/pinocchio/liegroup-element.hh>
37 #include <hpp/util/serialization-fwd.hh>
40 namespace constraints {
134 std::vector<bool> mask = std::vector<bool>());
245 return equalityIndices_;
270 std::vector<bool> mask);
281 void init(
const ImplicitWkPtr_t& weak) { weak_ = weak; }
286 void computeIndices();
287 void computeActiveRows();
293 std::vector<bool> mask_;
296 std::vector<std::size_t> inequalityIndices_;
298 ImplicitWkPtr_t weak_;
Definition: differentiable-function.hh:63
Definition: implicit-constraint-set.hh:45
Definition: implicit.hh:124
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:257
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:139
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
bool operator==(const Implicit &other) const
Operator equality.
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:244
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:304
Implicit(const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp, std::vector< bool > mask)
void init(const ImplicitWkPtr_t &weak)
Definition: implicit.hh:281
const segments_t & activeRows() const
Definition: implicit.hh:241
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:64
std::vector< ComparisonType > ComparisonTypes_t
Definition: fwd.hh:180
shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
Definition: fwd.hh:111
shared_ptr< Implicit > ImplicitPtr_t
Definition: fwd.hh:173
DifferentiableFunctionSet DifferentiableFunctionStack HPP_CONSTRAINTS_DEPRECATED
Definition: fwd.hh:114
pinocchio::size_type size_type
Definition: fwd.hh:47
pinocchio::value_type value_type
Definition: fwd.hh:48
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:59
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:105
std::vector< segment_t > segments_t
Definition: fwd.hh:83
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:60
pinocchio::vector_t vector_t
Definition: fwd.hh:58
pinocchio::LiegroupElementConstRef LiegroupElementConstRef
Definition: fwd.hh:66
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:65
Definition: active-set-differentiable-function.hh:36