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virtual ImplicitPtr_t | copy () const |
| Copy object and return shared pointer to copy. More...
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virtual void | outputValue (LiegroupElementRef result, vectorIn_t qin, LiegroupElementConstRef rhs) const |
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virtual void | jacobianOutputValue (vectorIn_t qin, LiegroupElementConstRef f_value, LiegroupElementConstRef rhs, matrixOut_t jacobian) const |
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virtual ImplicitPtr_t | copy () const |
| Copy object and return shared pointer to copy. More...
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DifferentiableFunctionPtr_t | explicitFunction () const |
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const segments_t & | outputConf () const |
| Get output configuration variables. More...
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const segments_t & | outputVelocity () const |
| Get output degrees of freedom. More...
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const segments_t & | inputConf () const |
| Get input configuration variables. More...
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const segments_t & | inputVelocity () const |
| Get input degrees of freedom. More...
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virtual void | outputValue (LiegroupElementRef result, vectorIn_t qin, LiegroupElementConstRef rhs) const |
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virtual void | jacobianOutputValue (vectorIn_t qin, LiegroupElementConstRef g_value, LiegroupElementConstRef rhs, matrixOut_t jacobian) const |
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bool | operator== (const Implicit &other) const |
| Operator equality. More...
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virtual ImplicitPtr_t | copy () const |
| Copy object and return shared pointer to copy. More...
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virtual | ~Implicit () |
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const ComparisonTypes_t & | comparisonType () const |
| Return the ComparisonType. More...
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void | comparisonType (const ComparisonTypes_t &comp) |
| Set the comparison type. More...
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const segments_t & | activeRows () const |
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bool | checkAllRowsActive () const |
| Check if all rows are active (no inactive rows) More...
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const Eigen::RowBlockIndices & | equalityIndices () const |
| Get indices of constraint coordinates that are equality. More...
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void | setInactiveRowsToZero (vectorOut_t error) const |
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DifferentiableFunction & | function () const |
| Return a reference to function \(h\). More...
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const DifferentiableFunctionPtr_t & | functionPtr () const |
| Return a reference to function \(h\). More...
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virtual std::pair< JointConstPtr_t, JointConstPtr_t > | doesConstrainRelPoseBetween (DeviceConstPtr_t robot) const |
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void | rightHandSideFromConfig (ConfigurationIn_t config, LiegroupElementRef rhs) |
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bool | checkRightHandSide (LiegroupElementConstRef rhs) const |
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size_type | parameterSize () const |
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size_type | rightHandSideSize () const |
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void | rightHandSideFunction (const DifferentiableFunctionPtr_t &rhsF) |
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const DifferentiableFunctionPtr_t & | rightHandSideFunction () const |
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vectorIn_t | rightHandSideAt (const value_type &s) |
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static ConvexShapeContactPtr_t | create (const std::string &name, DevicePtr_t robot, const JointAndShapes_t &floorSurfaces, const JointAndShapes_t &objectSurfaces, const value_type &margin) |
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static Constraints_t | createConstraintAndComplement (const std::string &name, DevicePtr_t robot, const JointAndShapes_t &floorSurfaces, const JointAndShapes_t &objectSurfaces, const value_type &margin) |
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static ConvexShapeContactPtr_t | createCopy (const ConvexShapeContactPtr_t &other) |
| Create copy and return shared pointer. More...
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static ExplicitPtr_t | create (const LiegroupSpacePtr_t &configSpace, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity, const ComparisonTypes_t &comp=ComparisonTypes_t(), std::vector< bool > mask=std::vector< bool >()) |
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static ExplicitPtr_t | createCopy (const ExplicitPtr_t &other) |
| Create a copy and return shared pointer. More...
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static ImplicitPtr_t | create (const DifferentiableFunctionPtr_t &func, ComparisonTypes_t comp, std::vector< bool > mask=std::vector< bool >()) |
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static ImplicitPtr_t | createCopy (const ImplicitPtr_t &other) |
| Create a copy and return shared pointer. More...
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| ConvexShapeContact (const std::string &name, DevicePtr_t robot, const JointAndShapes_t &floorSurfaces, const JointAndShapes_t &objectSurfaces, const value_type &margin) |
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void | init (ConvexShapeContactWkPtr_t weak) |
| Store weak pointer to itself. More...
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| Explicit (const LiegroupSpacePtr_t &configSpace, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity, const ComparisonTypes_t &comp, std::vector< bool > mask) |
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| Explicit (const DifferentiableFunctionPtr_t &implicitFunction, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity, const ComparisonTypes_t &comp, std::vector< bool > mask) |
| (const LiegroupSpacePtr_t&, constDifferentiableFunctionPtr_t&, const segments_t& inputConf, constsegments_t& outputConf, const segments_t& inputVelocity, constsegments_t&, const ComparisonTypes_t&); - Parameters
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More...
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| Explicit (const Explicit &other) |
| Copy constructor. More...
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bool | isEqual (const Implicit &other, bool swapAndTest) const |
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void | init (const ExplicitWkPtr_t &weak) |
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| Explicit () |
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| Implicit (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp, std::vector< bool > mask) |
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| Implicit (const Implicit &other) |
| Copy constructor. More...
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virtual bool | isEqual (const Implicit &other, bool swapAndTest) const |
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void | init (const ImplicitWkPtr_t &weak) |
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| Implicit () |
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