hpp-constraints 4.15.1
Definition of basic geometric constraints for motion planning
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fwd.hh
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30
31#ifndef HPP_CONSTRAINTS_FWD_HH
32#define HPP_CONSTRAINTS_FWD_HH
33
35#include <hpp/pinocchio/fwd.hh>
36#include <list>
37
38namespace Eigen {
39struct BlockIndex;
40} // namespace Eigen
41
42namespace hpp {
43namespace constraints {
47typedef pinocchio::size_type size_type;
48typedef pinocchio::value_type value_type;
49typedef pinocchio::JointPtr_t JointPtr_t;
50typedef pinocchio::JointConstPtr_t JointConstPtr_t;
51typedef pinocchio::Joint Joint;
52typedef pinocchio::vector3_t vector3_t;
53typedef pinocchio::matrix3_t matrix3_t;
54typedef Eigen::Matrix<value_type, 6, 6> matrix6_t;
55typedef Eigen::Matrix<value_type, 8, 1> vector8_t;
56typedef pinocchio::matrix_t matrix_t;
57typedef Eigen::Ref<const matrix_t> matrixIn_t;
58typedef Eigen::Ref<matrix_t> matrixOut_t;
59typedef pinocchio::vector_t vector_t;
60typedef pinocchio::vectorIn_t vectorIn_t;
61typedef pinocchio::vectorOut_t vectorOut_t;
62typedef pinocchio::ComJacobian_t ComJacobian_t;
63typedef pinocchio::JointJacobian_t JointJacobian_t;
64typedef pinocchio::Transform3f Transform3f;
65typedef pinocchio::LiegroupElement LiegroupElement;
66typedef pinocchio::LiegroupElementRef LiegroupElementRef;
67typedef pinocchio::LiegroupElementConstRef LiegroupElementConstRef;
68typedef pinocchio::LiegroupSpace LiegroupSpace;
69typedef pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t;
70typedef pinocchio::LiegroupSpaceConstPtr_t LiegroupSpaceConstPtr_t;
71namespace eigen {
72typedef Eigen::Matrix<value_type, 3, 3> matrix3_t;
73typedef Eigen::Matrix<value_type, 3, 1> vector3_t;
74} // namespace eigen
75typedef Eigen::Matrix<value_type, 5, 1> vector5_t;
76typedef Eigen::Matrix<value_type, 6, 1> vector6_t;
77typedef Eigen::Matrix<value_type, 7, 1> vector7_t;
78typedef Eigen::Quaternion<value_type> Quaternion_t;
79
80typedef pinocchio::ArrayXb ArrayXb;
82
83typedef std::pair<size_type, size_type> segment_t;
84typedef std::vector<segment_t> segments_t;
85
92class ConvexShape;
93typedef std::vector<ConvexShape> ConvexShapes_t;
101
102typedef pinocchio::ObjectVector_t ObjectVector_t;
103typedef pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t;
104typedef pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t;
105typedef pinocchio::Configuration_t Configuration_t;
106typedef pinocchio::ConfigurationIn_t ConfigurationIn_t;
107typedef pinocchio::ConfigurationOut_t ConfigurationOut_t;
108typedef pinocchio::Device Device;
109typedef pinocchio::DevicePtr_t DevicePtr_t;
110typedef pinocchio::DeviceConstPtr_t DeviceConstPtr_t;
111typedef pinocchio::CenterOfMassComputation CenterOfMassComputation;
112typedef pinocchio::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t;
113typedef shared_ptr<DifferentiableFunction> DifferentiableFunctionPtr_t;
114typedef shared_ptr<DifferentiableFunctionSet> DifferentiableFunctionSetPtr_t;
117typedef shared_ptr<ActiveSetDifferentiableFunction>
119typedef shared_ptr<DistanceBetweenBodies> DistanceBetweenBodiesPtr_t;
120typedef shared_ptr<DistanceBetweenPointsInBodies>
122typedef shared_ptr<RelativeCom> RelativeComPtr_t;
123typedef shared_ptr<ComBetweenFeet> ComBetweenFeetPtr_t;
126typedef std::vector<vector3_t> Shape_t;
127typedef std::pair<JointPtr_t, Shape_t> JointAndShape_t;
128typedef std::vector<JointAndShape_t> JointAndShapes_t;
129typedef shared_ptr<ConvexShapeContact> ConvexShapeContactPtr_t;
130typedef shared_ptr<ConvexShapeContactComplement>
132typedef shared_ptr<ConvexShapeContactHold> ConvexShapeContactHoldPtr_t;
133typedef shared_ptr<StaticStability> StaticStabilityPtr_t;
134typedef shared_ptr<QPStaticStability> QPStaticStabilityPtr_t;
135typedef shared_ptr<ConfigurationConstraint> ConfigurationConstraintPtr_t;
136typedef shared_ptr<Identity> IdentityPtr_t;
137typedef shared_ptr<AffineFunction> AffineFunctionPtr_t;
138typedef shared_ptr<ConstantFunction> ConstantFunctionPtr_t;
139
140template <int _Options>
142
144const int RelativeBit = 0x1;
145const int PositionBit = 0x2;
146const int OrientationBit = 0x4;
147const int OutputR3xSO3Bit = 0x8;
158typedef GenericTransformation<RelativeBit | PositionBit | OrientationBit |
159 OutputR3xSO3Bit>
164
165typedef shared_ptr<Position> PositionPtr_t;
166typedef shared_ptr<Orientation> OrientationPtr_t;
167typedef shared_ptr<Transformation> TransformationPtr_t;
168typedef shared_ptr<RelativePosition> RelativePositionPtr_t;
169typedef shared_ptr<RelativeOrientation> RelativeOrientationPtr_t;
170typedef shared_ptr<RelativeTransformation> RelativeTransformationPtr_t;
171
173
175typedef shared_ptr<Implicit> ImplicitPtr_t;
176typedef shared_ptr<const Implicit> ImplicitConstPtr_t;
177typedef std::vector<constraints::ImplicitPtr_t> NumericalConstraints_t;
179typedef shared_ptr<ImplicitConstraintSet> ImplicitConstraintSetPtr_t;
180
182typedef std::vector<ComparisonType> ComparisonTypes_t;
183
185typedef shared_ptr<Explicit> ExplicitPtr_t;
186typedef shared_ptr<const Explicit> ExplicitConstPtr_t;
187
189namespace solver {
191class BySubstitution;
192} // namespace solver
193
194namespace explicit_ {
195class Function;
197typedef shared_ptr<RelativePose> RelativePosePtr_t;
199typedef shared_ptr<RelativeTransformation> RelativeTransformationPtr_t;
201typedef shared_ptr<ImplicitFunction> ImplicitFunctionPtr_t;
203typedef shared_ptr<ConvexShapeContact> ConvexShapeContactPtr_t;
204} // namespace explicit_
205
207typedef shared_ptr<LockedJoint> LockedJointPtr_t;
208typedef shared_ptr<const LockedJoint> LockedJointConstPtr_t;
209typedef std::vector<LockedJointPtr_t> LockedJoints_t;
210
211namespace function {
213typedef shared_ptr<OfParameterSubset> OfParameterSubsetPtr_t;
214} // namespace function
215} // namespace constraints
216} // namespace hpp
217
218#endif // HPP_CONSTRAINTS_FWD_HH
Definition: active-set-differentiable-function.hh:48
Definition: affine-function.hh:81
Definition: com-between-feet.hh:67
Square distance between input configuration and reference configuration.
Definition: configuration-constraint.hh:44
Definition: convex-shape-contact.hh:280
Definition: convex-shape-contact.hh:347
Definition: convex-shape-contact.hh:94
Definition: convex-shape.hh:73
Definition: differentiable-function-set.hh:45
Definition: differentiable-function.hh:63
Definition: distance-between-bodies.hh:50
Definition: distance-between-points-in-bodies.hh:48
Definition: explicit-constraint-set.hh:99
Definition: explicit.hh:132
Definition: generic-transformation.hh:135
Definition: affine-function.hh:47
Definition: implicit-constraint-set.hh:45
Definition: implicit.hh:124
Definition: locked-joint.hh:66
Definition: qp-static-stability.hh:54
Definition: relative-com.hh:67
Definition: static-stability.hh:44
Definition: convex-shape-contact.hh:38
Definition: implicit-function.hh:49
Definition: relative-pose.hh:75
Definition: relative-transformation.hh:58
Definition: of-parameter-subset.hh:51
Definition: by-substitution.hh:73
Definition: hierarchical-iterative.hh:232
#define HPP_CONSTRAINTS_DEPRECATED
Definition: deprecated.hh:37
Definition: fwd.hh:38
Eigen::Matrix< value_type, 3, 1 > vector3_t
Definition: fwd.hh:73
Eigen::Matrix< value_type, 3, 3 > matrix3_t
Definition: fwd.hh:72
shared_ptr< ConvexShapeContact > ConvexShapeContactPtr_t
Definition: fwd.hh:203
HPP_PREDEF_CLASS(RelativePose)
shared_ptr< RelativePose > RelativePosePtr_t
Definition: fwd.hh:197
shared_ptr< RelativeTransformation > RelativeTransformationPtr_t
Definition: fwd.hh:199
shared_ptr< ImplicitFunction > ImplicitFunctionPtr_t
Definition: fwd.hh:201
HPP_PREDEF_CLASS(OfParameterSubset)
shared_ptr< OfParameterSubset > OfParameterSubsetPtr_t
Definition: fwd.hh:213
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:65
shared_ptr< ComBetweenFeet > ComBetweenFeetPtr_t
Definition: fwd.hh:123
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:105
shared_ptr< const LockedJoint > LockedJointConstPtr_t
Definition: fwd.hh:208
std::vector< ComparisonType > ComparisonTypes_t
Definition: fwd.hh:182
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:104
std::vector< JointAndShape_t > JointAndShapes_t
Definition: fwd.hh:128
pinocchio::ObjectVector_t ObjectVector_t
Definition: fwd.hh:102
pinocchio::matrix3_t matrix3_t
Definition: fwd.hh:53
GenericTransformation< PositionBit > Position
Definition: fwd.hh:150
Eigen::Matrix< value_type, 5, 1 > vector5_t
Definition: fwd.hh:75
std::vector< LockedJointPtr_t > LockedJoints_t
Definition: fwd.hh:209
HPP_PREDEF_CLASS(DifferentiableFunction)
pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t
Definition: fwd.hh:103
pinocchio::vector3_t vector3_t
Definition: fwd.hh:52
pinocchio::JointJacobian_t JointJacobian_t
Definition: fwd.hh:63
DEVEL typedef GenericTransformation< PositionBit|OrientationBit > Transformation
Definition: fwd.hh:149
Eigen::Matrix< value_type, 6, 1 > vector6_t
Definition: fwd.hh:76
Eigen::Quaternion< value_type > Quaternion_t
Definition: fwd.hh:78
shared_ptr< Explicit > ExplicitPtr_t
Definition: fwd.hh:185
shared_ptr< AffineFunction > AffineFunctionPtr_t
Definition: fwd.hh:137
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:109
shared_ptr< RelativeTransformation > RelativeTransformationPtr_t
Definition: fwd.hh:170
GenericTransformation< RelativeBit|OrientationBit|OutputR3xSO3Bit > RelativeOrientationSO3
Definition: fwd.hh:163
GenericTransformation< PositionBit|OrientationBit|OutputR3xSO3Bit > TransformationR3xSO3
Definition: fwd.hh:157
pinocchio::LiegroupSpaceConstPtr_t LiegroupSpaceConstPtr_t
Definition: fwd.hh:70
pinocchio::DeviceConstPtr_t DeviceConstPtr_t
Definition: fwd.hh:110
pinocchio::LiegroupSpace LiegroupSpace
Definition: fwd.hh:68
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:69
shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
Definition: fwd.hh:113
std::pair< size_type, size_type > segment_t
Definition: fwd.hh:83
pinocchio::Transform3f Transform3f
Definition: fwd.hh:64
shared_ptr< Transformation > TransformationPtr_t
Definition: fwd.hh:167
shared_ptr< ConstantFunction > ConstantFunctionPtr_t
Definition: fwd.hh:138
shared_ptr< Implicit > ImplicitPtr_t
Definition: fwd.hh:175
shared_ptr< DifferentiableFunctionSet > DifferentiableFunctionSetPtr_t
Definition: fwd.hh:114
shared_ptr< Position > PositionPtr_t
Definition: fwd.hh:165
shared_ptr< QPStaticStability > QPStaticStabilityPtr_t
Definition: fwd.hh:134
pinocchio::Joint Joint
Definition: fwd.hh:51
shared_ptr< RelativeOrientation > RelativeOrientationPtr_t
Definition: fwd.hh:169
pinocchio::size_type size_type
Definition: fwd.hh:47
shared_ptr< ConvexShapeContact > ConvexShapeContactPtr_t
Definition: fwd.hh:129
shared_ptr< ImplicitConstraintSet > ImplicitConstraintSetPtr_t
Definition: fwd.hh:179
Eigen::Matrix< value_type, 7, 1 > vector7_t
Definition: fwd.hh:77
pinocchio::ArrayXb ArrayXb
Definition: fwd.hh:80
pinocchio::ComJacobian_t ComJacobian_t
Definition: fwd.hh:62
pinocchio::value_type value_type
Definition: fwd.hh:48
std::pair< JointPtr_t, Shape_t > JointAndShape_t
Definition: fwd.hh:127
shared_ptr< ConvexShapeContactComplement > ConvexShapeContactComplementPtr_t
Definition: fwd.hh:131
shared_ptr< ConvexShapeContactHold > ConvexShapeContactHoldPtr_t
Definition: fwd.hh:132
shared_ptr< DistanceBetweenPointsInBodies > DistanceBetweenPointsInBodiesPtr_t
Definition: fwd.hh:121
shared_ptr< StaticStability > StaticStabilityPtr_t
Definition: fwd.hh:133
Eigen::BlockIndex BlockIndex
Definition: fwd.hh:172
GenericTransformation< RelativeBit|OrientationBit > RelativeOrientation
Definition: fwd.hh:155
std::vector< vector3_t > Shape_t
Definition: fwd.hh:126
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:60
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:106
pinocchio::matrix_t matrix_t
Definition: fwd.hh:56
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:58
HPP_CONSTRAINTS_DEPRECATED typedef DifferentiableFunctionSet DifferentiableFunctionStack
Definition: fwd.hh:116
shared_ptr< ActiveSetDifferentiableFunction > ActiveSetDifferentiableFunctionPtr_t
Definition: fwd.hh:118
shared_ptr< Orientation > OrientationPtr_t
Definition: fwd.hh:166
GenericTransformation< RelativeBit|PositionBit|OrientationBit|OutputR3xSO3Bit > RelativeTransformationR3xSO3
Definition: fwd.hh:160
pinocchio::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t
Definition: fwd.hh:112
GenericTransformation< OrientationBit|OutputR3xSO3Bit > OrientationSO3
Definition: fwd.hh:161
shared_ptr< ConfigurationConstraint > ConfigurationConstraintPtr_t
Definition: fwd.hh:135
shared_ptr< const Implicit > ImplicitConstPtr_t
Definition: fwd.hh:176
shared_ptr< LockedJoint > LockedJointPtr_t
Definition: fwd.hh:207
shared_ptr< RelativePosition > RelativePositionPtr_t
Definition: fwd.hh:168
std::vector< segment_t > segments_t
Definition: fwd.hh:84
GenericTransformation< OrientationBit > Orientation
Definition: fwd.hh:151
Eigen::Ref< const matrix_t > matrixIn_t
Definition: fwd.hh:57
ArrayXb bool_array_t
Definition: fwd.hh:81
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:61
pinocchio::Device Device
Definition: fwd.hh:108
GenericTransformation< RelativeBit|PositionBit > RelativePosition
Definition: fwd.hh:154
std::vector< constraints::ImplicitPtr_t > NumericalConstraints_t
Definition: fwd.hh:177
pinocchio::vector_t vector_t
Definition: fwd.hh:59
shared_ptr< RelativeCom > RelativeComPtr_t
Definition: fwd.hh:122
pinocchio::LiegroupElementConstRef LiegroupElementConstRef
Definition: fwd.hh:67
pinocchio::CenterOfMassComputation CenterOfMassComputation
Definition: fwd.hh:111
shared_ptr< DistanceBetweenBodies > DistanceBetweenBodiesPtr_t
Definition: fwd.hh:119
shared_ptr< const Explicit > ExplicitConstPtr_t
Definition: fwd.hh:186
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:66
std::vector< ConvexShape > ConvexShapes_t
Definition: fwd.hh:93
ComparisonType
Definition: fwd.hh:181
@ Inferior
Definition: fwd.hh:181
@ Superior
Definition: fwd.hh:181
@ EqualToZero
Definition: fwd.hh:181
@ Equality
Definition: fwd.hh:181
Eigen::Matrix< value_type, 6, 6 > matrix6_t
Definition: fwd.hh:54
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:49
Eigen::Matrix< value_type, 8, 1 > vector8_t
Definition: fwd.hh:55
GenericTransformation< RelativeBit|PositionBit|OrientationBit > RelativeTransformation
Definition: fwd.hh:153
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:107
pinocchio::JointConstPtr_t JointConstPtr_t
Definition: fwd.hh:50
shared_ptr< Identity > IdentityPtr_t
Definition: fwd.hh:136
Definition: active-set-differentiable-function.hh:36
Definition: matrix-view.hh:49
Definition: affine-function.hh:147