19 #ifndef HPP_CORE_CONSTRAINT_SET_HH
20 # define HPP_CORE_CONSTRAINT_SET_HH
41 const std::string& name)
68 Constraints_t::iterator
begin () {
69 return constraints_.begin ();
72 Constraints_t::iterator
end () {
73 return constraints_.end ();
117 bool rows =
true)
const;
125 bool rows =
true)
const;
140 virtual std::ostream&
print (std::ostream& os)
const;
150 ConstraintSetWkPtr_t weak_;
Definition: config-projector.hh:58
Definition: constraint-set.hh:37
ConstraintSet(const DevicePtr_t &robot, const std::string &name)
virtual bool isSatisfied(ConfigurationIn_t config, vector_t &error)
void addConstraint(const ConstraintPtr_t &constraint)
Add a constraint to the set.
void compressMatrix(matrixIn_t normal, matrixOut_t small, bool rows=true) const
ConstraintSet(const ConstraintSet &other)
Copy constructor.
Constraints_t::iterator begin()
Iterator over the constraints.
Definition: constraint-set.hh:68
size_type numberNonLockedDof() const
Get number of non-locked degrees of freedom.
void compressVector(vectorIn_t normal, vectorOut_t small) const
void uncompressVector(vectorIn_t small, vectorOut_t normal) const
ConfigProjectorPtr_t configProjector() const
Return pointer to config projector if any.
ConstraintSet()
Constructor for serialization only.
Definition: constraint-set.hh:143
void init(const ConstraintSetPtr_t &self)
Store weak pointer to itself.
Definition: constraint-set.hh:133
Constraints_t::iterator end()
Iterator over the constraints.
Definition: constraint-set.hh:72
virtual bool isSatisfied(ConfigurationIn_t config)
Check whether a configuration statisfies the constraint.
virtual bool impl_compute(ConfigurationOut_t configuration)
User defined implementation of the constraint.
static ConstraintSetPtr_t create(const DevicePtr_t &robot, const std::string &name)
Return shared pointer to new object.
Definition: constraint-set.hh:40
virtual ConstraintPtr_t copy() const
return shared pointer to copy
static ConstraintSetPtr_t createCopy(const ConstraintSetPtr_t &cs)
Return shared pointer to new object.
Definition: constraint-set.hh:50
void uncompressMatrix(matrixIn_t small, matrixOut_t normal, bool rows=true) const
virtual std::ostream & print(std::ostream &os) const
Definition: constraint.hh:39
void init(const ConstraintPtr_t &self)
Store shared pointer to itself.
Definition: constraint.hh:80
#define HPP_CORE_DLLAPI
Definition: config.hh:64
shared_ptr< Constraint > ConstraintPtr_t
Definition: fwd.hh:109
constraints::LockedJoint LockedJoint
Definition: fwd.hh:141
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:203
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:204
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:98
pinocchio::vector_t vector_t
Definition: fwd.hh:202
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:97
std::vector< ConstraintPtr_t > Constraints_t
Definition: fwd.hh:112
pinocchio::size_type size_type
Definition: fwd.hh:156
shared_ptr< ConfigProjector > ConfigProjectorPtr_t
Definition: fwd.hh:104
constraints::matrixOut_t matrixOut_t
Definition: fwd.hh:150
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:114
constraints::matrixIn_t matrixIn_t
Definition: fwd.hh:149
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:110
Definition: bi-rrt-planner.hh:24