hpp-constraints: include/hpp/constraints/fwd.hh Source File

hpp-constraints 9.0.2 Definition of basic geometric constraints for motion planning

Loading...
Searching...
No Matches
fwd.hh
Go to the documentation of this file.
1
6
7// Redistribution and use in source and binary forms, with or without
8// modification, are permitted provided that the following conditions are
9// met:
10//
11// 1. Redistributions of source code must retain the above copyright
12// notice, this list of conditions and the following disclaimer.
13//
14// 2. Redistributions in binary form must reproduce the above copyright
15// notice, this list of conditions and the following disclaimer in the
16// documentation and/or other materials provided with the distribution.
17//
18// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
19// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
20// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
21// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
22// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
23// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
24// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
25// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
26// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
27// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
28// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
29// DAMAGE.
30
31#ifndef HPP_CONSTRAINTS_FWD_HH
32#define HPP_CONSTRAINTS_FWD_HH
33
34#include <hpp/constraints/deprecated.hh>
35#include <hpp/pinocchio/fwd.hh>
36#include <list>
37#include <map>
38
39 namespace Eigen {
40 struct BlockIndex;
41} // namespace Eigen
42
43 namespace hpp {
44 namespace constraints {
45HPP_PREDEF_CLASS(DifferentiableFunction);
46HPP_PREDEF_CLASS(DifferentiableFunctionSet);
47HPP_PREDEF_CLASS(ActiveSetDifferentiableFunction);
48 typedef pinocchio::size_type size_type;
49 typedef pinocchio::value_type value_type;
50 typedef pinocchio::JointPtr_t JointPtr_t;
51 typedef pinocchio::JointConstPtr_t JointConstPtr_t;
52 typedef pinocchio::Joint Joint;
53 typedef pinocchio::vector3_t vector3_t;
54 typedef pinocchio::matrix3_t matrix3_t;
55 typedef Eigen::Matrix<value_type, 6, 6> matrix6_t;
56 typedef Eigen::Matrix<value_type, 8, 1> vector8_t;
57 typedef pinocchio::matrix_t matrix_t;
58 typedef Eigen::Ref<const matrix_t> matrixIn_t;
59 typedef Eigen::Ref<matrix_t> matrixOut_t;
60 typedef pinocchio::vector_t vector_t;
61 typedef pinocchio::vectorIn_t vectorIn_t;
62 typedef pinocchio::vectorOut_t vectorOut_t;
63 typedef pinocchio::ComJacobian_t ComJacobian_t;
64 typedef pinocchio::JointJacobian_t JointJacobian_t;
65 typedef pinocchio::Transform3s Transform3s;
66 typedef pinocchio::LiegroupElement LiegroupElement;
67 typedef pinocchio::LiegroupElementRef LiegroupElementRef;
68 typedef pinocchio::LiegroupElementConstRef LiegroupElementConstRef;
69 typedef pinocchio::LiegroupSpace LiegroupSpace;
70 typedef pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t;
71 typedef pinocchio::LiegroupSpaceConstPtr_t LiegroupSpaceConstPtr_t;
72 namespace eigen {
73 typedef Eigen::Matrix<value_type, 3, 3> matrix3_t;
74 typedef Eigen::Matrix<value_type, 3, 1> vector3_t;
75} // namespace eigen
76 typedef Eigen::Matrix<value_type, 5, 1> vector5_t;
77 typedef Eigen::Matrix<value_type, 6, 1> vector6_t;
78 typedef Eigen::Matrix<value_type, 7, 1> vector7_t;
79 typedef Eigen::Quaternion<value_type> Quaternion_t;
80
81 typedef pinocchio::ArrayXb ArrayXb;
82 typedef ArrayXb bool_array_t;
83
84 typedef std::pair<size_type, size_type> segment_t;
85 typedef std::pair<value_type, value_type> interval_t;
86 typedef std::vector<segment_t> segments_t;
87
88HPP_PREDEF_CLASS(DistanceBetweenBodies);
89HPP_PREDEF_CLASS(DistanceBetweenPointsInBodies);
90HPP_PREDEF_CLASS(RelativeCom);
91HPP_PREDEF_CLASS(ComBetweenFeet);
92HPP_PREDEF_CLASS(StaticStability);
93HPP_PREDEF_CLASS(QPStaticStability);
94 class ConvexShape;
95 typedef std::vector<ConvexShape> ConvexShapes_t;
96HPP_PREDEF_CLASS(ConvexShapeContact);
97HPP_PREDEF_CLASS(ConvexShapeContactComplement);
98HPP_PREDEF_CLASS(ConvexShapeContactHold);
99HPP_PREDEF_CLASS(ConfigurationConstraint);
100HPP_PREDEF_CLASS(Identity);
101HPP_PREDEF_CLASS(AffineFunction);
102HPP_PREDEF_CLASS(ConstantFunction);
103
104 typedef pinocchio::ObjectVector_t ObjectVector_t;
105 typedef pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t;
106 typedef pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t;
107 typedef pinocchio::Configuration_t Configuration_t;
108 typedef pinocchio::ConfigurationIn_t ConfigurationIn_t;
109 typedef pinocchio::ConfigurationOut_t ConfigurationOut_t;
110 typedef pinocchio::Device Device;
111 typedef pinocchio::DevicePtr_t DevicePtr_t;
112 typedef pinocchio::DeviceConstPtr_t DeviceConstPtr_t;
113 typedef pinocchio::CenterOfMassComputation CenterOfMassComputation;
114 typedef pinocchio::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t;
115 typedef shared_ptr<DifferentiableFunction> DifferentiableFunctionPtr_t;
116 typedef shared_ptr<DifferentiableFunctionSet> DifferentiableFunctionSetPtr_t;
117 typedef shared_ptr<ActiveSetDifferentiableFunction>
118 ActiveSetDifferentiableFunctionPtr_t;
119 typedef shared_ptr<DistanceBetweenBodies> DistanceBetweenBodiesPtr_t;
120 typedef shared_ptr<DistanceBetweenPointsInBodies>
121 DistanceBetweenPointsInBodiesPtr_t;
122 typedef shared_ptr<RelativeCom> RelativeComPtr_t;
123 typedef shared_ptr<ComBetweenFeet> ComBetweenFeetPtr_t;
126 typedef std::vector<vector3_t> Shape_t;
127 typedef std::pair<JointPtr_t, Shape_t> JointAndShape_t;
128 typedef std::vector<JointAndShape_t> JointAndShapes_t;
129 typedef shared_ptr<ConvexShapeContact> ConvexShapeContactPtr_t;
130 typedef shared_ptr<ConvexShapeContactComplement>
131 ConvexShapeContactComplementPtr_t;
132 typedef shared_ptr<ConvexShapeContactHold> ConvexShapeContactHoldPtr_t;
133 typedef shared_ptr<StaticStability> StaticStabilityPtr_t;
134 typedef shared_ptr<QPStaticStability> QPStaticStabilityPtr_t;
135 typedef shared_ptr<ConfigurationConstraint> ConfigurationConstraintPtr_t;
136 typedef shared_ptr<Identity> IdentityPtr_t;
137 typedef shared_ptr<AffineFunction> AffineFunctionPtr_t;
138 typedef shared_ptr<ConstantFunction> ConstantFunctionPtr_t;
139
140 template <int _Options>
141 class GenericTransformation;
142
144 const int RelativeBit = 0x1;
145 const int PositionBit = 0x2;
146 const int OrientationBit = 0x4;
147 const int OutputR3xSO3Bit = 0x8;
149 typedef GenericTransformation<PositionBit | OrientationBit> Transformation;
150 typedef GenericTransformation<PositionBit> Position;
151 typedef GenericTransformation<OrientationBit> Orientation;
152 typedef GenericTransformation<RelativeBit | PositionBit | OrientationBit>
153 RelativeTransformation;
154 typedef GenericTransformation<RelativeBit | PositionBit> RelativePosition;
155 typedef GenericTransformation<RelativeBit | OrientationBit> RelativeOrientation;
156 typedef GenericTransformation<PositionBit | OrientationBit | OutputR3xSO3Bit>
157 TransformationR3xSO3;
158 typedef GenericTransformation<RelativeBit | PositionBit | OrientationBit |
159 OutputR3xSO3Bit>
160 RelativeTransformationR3xSO3;
161 typedef GenericTransformation<OrientationBit | OutputR3xSO3Bit> OrientationSO3;
162 typedef GenericTransformation<RelativeBit | OrientationBit | OutputR3xSO3Bit>
163 RelativeOrientationSO3;
164
165 typedef shared_ptr<Position> PositionPtr_t;
166 typedef shared_ptr<Orientation> OrientationPtr_t;
167 typedef shared_ptr<Transformation> TransformationPtr_t;
168 typedef shared_ptr<RelativePosition> RelativePositionPtr_t;
169 typedef shared_ptr<RelativeOrientation> RelativeOrientationPtr_t;
170 typedef shared_ptr<RelativeTransformation> RelativeTransformationPtr_t;
171
172 typedef Eigen::BlockIndex BlockIndex;
173
174HPP_PREDEF_CLASS(Implicit);
175 typedef shared_ptr<Implicit> ImplicitPtr_t;
176 typedef shared_ptr<const Implicit> ImplicitConstPtr_t;
177 typedef std::vector<constraints::ImplicitPtr_t> NumericalConstraints_t;
178HPP_PREDEF_CLASS(ImplicitConstraintSet);
179 typedef shared_ptr<ImplicitConstraintSet> ImplicitConstraintSetPtr_t;
180
181 enum ComparisonType { Equality, EqualToZero, Superior, Inferior };
182 typedef std::vector<ComparisonType> ComparisonTypes_t;
183
184HPP_PREDEF_CLASS(Explicit);
185 typedef shared_ptr<Explicit> ExplicitPtr_t;
186 typedef shared_ptr<const Explicit> ExplicitConstPtr_t;
187
188// Map to replace constraints by their copies when copying solvers
189 typedef std::map<ImplicitPtr_t, ImplicitPtr_t> ConstraintReplacement_t;
190 class ExplicitConstraintSet;
191 namespace solver {
192 class HierarchicalIterative;
193 class BySubstitution;
194} // namespace solver
195
196 namespace explicit_ {
197 class Function;
198HPP_PREDEF_CLASS(RelativePose);
199 typedef shared_ptr<RelativePose> RelativePosePtr_t;
200HPP_PREDEF_CLASS(RelativeTransformation);
201 typedef shared_ptr<RelativeTransformation> RelativeTransformationPtr_t;
202HPP_PREDEF_CLASS(ImplicitFunction);
203 typedef shared_ptr<ImplicitFunction> ImplicitFunctionPtr_t;
204HPP_PREDEF_CLASS(ConvexShapeContact);
205 typedef shared_ptr<ConvexShapeContact> ConvexShapeContactPtr_t;
206} // namespace explicit_
207
208HPP_PREDEF_CLASS(LockedJoint);
209 typedef shared_ptr<LockedJoint> LockedJointPtr_t;
210 typedef shared_ptr<const LockedJoint> LockedJointConstPtr_t;
211 typedef std::vector<LockedJointPtr_t> LockedJoints_t;
212
213 namespace function {
214HPP_PREDEF_CLASS(OfParameterSubset);
215 typedef shared_ptr<OfParameterSubset> OfParameterSubsetPtr_t;
216} // namespace function
217} // namespace constraints
218} // namespace hpp
219
220#endif // HPP_CONSTRAINTS_FWD_HH
hpp::constraints::ActiveSetDifferentiableFunction
Definition active-set-differentiable-function.hh:48
hpp::constraints::AffineFunction
Definition affine-function.hh:81
hpp::constraints::ComBetweenFeet
Definition com-between-feet.hh:67
hpp::constraints::ConfigurationConstraint
Square distance between input configuration and reference configuration.
Definition configuration-constraint.hh:44
hpp::constraints::ConvexShapeContactComplement
Definition convex-shape-contact.hh:280
hpp::constraints::ConvexShapeContactHold
Definition convex-shape-contact.hh:347
hpp::constraints::ConvexShapeContact
Definition convex-shape-contact.hh:94
hpp::constraints::ConvexShape
Definition convex-shape.hh:77
hpp::constraints::DifferentiableFunctionSet
Definition differentiable-function-set.hh:45
hpp::constraints::DifferentiableFunction
Definition differentiable-function.hh:63
hpp::constraints::DistanceBetweenBodies
Definition distance-between-bodies.hh:50
hpp::constraints::DistanceBetweenPointsInBodies
Definition distance-between-points-in-bodies.hh:48
hpp::constraints::ExplicitConstraintSet
Definition explicit-constraint-set.hh:99
hpp::constraints::Explicit
Definition explicit.hh:143
hpp::constraints::GenericTransformation
Definition generic-transformation.hh:135
hpp::constraints::Identity
Definition affine-function.hh:47
hpp::constraints::ImplicitConstraintSet
Definition implicit-constraint-set.hh:45
hpp::constraints::Implicit
Definition implicit.hh:119
hpp::constraints::LockedJoint
Definition locked-joint.hh:66
hpp::constraints::QPStaticStability
Definition qp-static-stability.hh:54
hpp::constraints::RelativeCom
Definition relative-com.hh:67
hpp::constraints::StaticStability
Definition static-stability.hh:44
hpp::constraints::explicit_::ConvexShapeContact
Definition convex-shape-contact.hh:38
hpp::constraints::explicit_::ImplicitFunction
Definition implicit-function.hh:49
hpp::constraints::explicit_::RelativePose
Definition relative-pose.hh:75
hpp::constraints::explicit_::RelativeTransformation
Definition relative-transformation.hh:58
hpp::constraints::function::OfParameterSubset
Definition of-parameter-subset.hh:51
hpp::constraints::solver::BySubstitution
Definition by-substitution.hh:73
hpp::constraints::solver::HierarchicalIterative
Definition hierarchical-iterative.hh:240
hpp::pinocchio::CenterOfMassComputation
hpp::pinocchio::Device
hpp::pinocchio::Joint
hpp::pinocchio::LiegroupElementBase
hpp::pinocchio::LiegroupElementConstBase
hpp::pinocchio::LiegroupSpace
deprecated.hh
fwd.hh
Eigen
Definition fwd.hh:39
hpp::constraints::eigen::vector3_t
Eigen::Matrix< value_type, 3, 1 > vector3_t
Definition fwd.hh:74
hpp::constraints::eigen::matrix3_t
Eigen::Matrix< value_type, 3, 3 > matrix3_t
Definition fwd.hh:73
hpp::constraints::explicit_::ConvexShapeContactPtr_t
shared_ptr< ConvexShapeContact > ConvexShapeContactPtr_t
Definition fwd.hh:205
hpp::constraints::explicit_::RelativePosePtr_t
shared_ptr< RelativePose > RelativePosePtr_t
Definition fwd.hh:199
hpp::constraints::explicit_::RelativeTransformationPtr_t
shared_ptr< RelativeTransformation > RelativeTransformationPtr_t
Definition fwd.hh:201
hpp::constraints::explicit_::ImplicitFunctionPtr_t
shared_ptr< ImplicitFunction > ImplicitFunctionPtr_t
Definition fwd.hh:203
hpp::constraints::function::OfParameterSubsetPtr_t
shared_ptr< OfParameterSubset > OfParameterSubsetPtr_t
Definition fwd.hh:215
hpp::constraints::LiegroupElement
pinocchio::LiegroupElement LiegroupElement
Definition fwd.hh:66
hpp::constraints::ComBetweenFeetPtr_t
shared_ptr< ComBetweenFeet > ComBetweenFeetPtr_t
Definition fwd.hh:123
hpp::constraints::Configuration_t
pinocchio::Configuration_t Configuration_t
Definition fwd.hh:107
hpp::constraints::LockedJointConstPtr_t
shared_ptr< const LockedJoint > LockedJointConstPtr_t
Definition fwd.hh:210
hpp::constraints::ComparisonTypes_t
std::vector< ComparisonType > ComparisonTypes_t
Definition fwd.hh:182
hpp::constraints::CollisionObjectConstPtr_t
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition fwd.hh:106
hpp::constraints::JointAndShapes_t
std::vector< JointAndShape_t > JointAndShapes_t
Definition fwd.hh:128
hpp::constraints::ObjectVector_t
pinocchio::ObjectVector_t ObjectVector_t
Definition fwd.hh:104
hpp::constraints::matrix3_t
pinocchio::matrix3_t matrix3_t
Definition fwd.hh:54
hpp::constraints::Position
GenericTransformation< PositionBit > Position
Definition fwd.hh:150
hpp::constraints::vector5_t
Eigen::Matrix< value_type, 5, 1 > vector5_t
Definition fwd.hh:76
hpp::constraints::LockedJoints_t
std::vector< LockedJointPtr_t > LockedJoints_t
Definition fwd.hh:211
hpp::constraints::CollisionObjectPtr_t
pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t
Definition fwd.hh:105
hpp::constraints::vector3_t
pinocchio::vector3_t vector3_t
Definition fwd.hh:53
hpp::constraints::JointJacobian_t
pinocchio::JointJacobian_t JointJacobian_t
Definition fwd.hh:64
hpp::constraints::Transformation
DEVEL typedef GenericTransformation< PositionBit|OrientationBit > Transformation
Definition fwd.hh:149
hpp::constraints::vector6_t
Eigen::Matrix< value_type, 6, 1 > vector6_t
Definition fwd.hh:77
hpp::constraints::Quaternion_t
Eigen::Quaternion< value_type > Quaternion_t
Definition fwd.hh:79
hpp::constraints::ExplicitPtr_t
shared_ptr< Explicit > ExplicitPtr_t
Definition fwd.hh:185
hpp::constraints::Transform3s
pinocchio::Transform3s Transform3s
Definition fwd.hh:65
hpp::constraints::AffineFunctionPtr_t
shared_ptr< AffineFunction > AffineFunctionPtr_t
Definition fwd.hh:137
hpp::constraints::DevicePtr_t
pinocchio::DevicePtr_t DevicePtr_t
Definition fwd.hh:111
hpp::constraints::RelativeTransformationPtr_t
shared_ptr< RelativeTransformation > RelativeTransformationPtr_t
Definition fwd.hh:170
hpp::constraints::RelativeOrientationSO3
GenericTransformation< RelativeBit|OrientationBit|OutputR3xSO3Bit > RelativeOrientationSO3
Definition fwd.hh:163
hpp::constraints::TransformationR3xSO3
GenericTransformation< PositionBit|OrientationBit|OutputR3xSO3Bit > TransformationR3xSO3
Definition fwd.hh:157
hpp::constraints::LiegroupSpaceConstPtr_t
pinocchio::LiegroupSpaceConstPtr_t LiegroupSpaceConstPtr_t
Definition fwd.hh:71
hpp::constraints::DeviceConstPtr_t
pinocchio::DeviceConstPtr_t DeviceConstPtr_t
Definition fwd.hh:112
hpp::constraints::LiegroupSpace
pinocchio::LiegroupSpace LiegroupSpace
Definition fwd.hh:69
hpp::constraints::LiegroupSpacePtr_t
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition fwd.hh:70
hpp::constraints::DifferentiableFunctionPtr_t
shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
Definition fwd.hh:115
hpp::constraints::segment_t
std::pair< size_type, size_type > segment_t
Definition fwd.hh:84
hpp::constraints::TransformationPtr_t
shared_ptr< Transformation > TransformationPtr_t
Definition fwd.hh:167
hpp::constraints::ConstantFunctionPtr_t
shared_ptr< ConstantFunction > ConstantFunctionPtr_t
Definition fwd.hh:138
hpp::constraints::ImplicitPtr_t
shared_ptr< Implicit > ImplicitPtr_t
Definition fwd.hh:175
hpp::constraints::interval_t
std::pair< value_type, value_type > interval_t
Definition fwd.hh:85
hpp::constraints::DifferentiableFunctionSetPtr_t
shared_ptr< DifferentiableFunctionSet > DifferentiableFunctionSetPtr_t
Definition fwd.hh:116
hpp::constraints::PositionPtr_t
shared_ptr< Position > PositionPtr_t
Definition fwd.hh:165
hpp::constraints::QPStaticStabilityPtr_t
shared_ptr< QPStaticStability > QPStaticStabilityPtr_t
Definition fwd.hh:134
hpp::constraints::Joint
pinocchio::Joint Joint
Definition fwd.hh:52
hpp::constraints::RelativeOrientationPtr_t
shared_ptr< RelativeOrientation > RelativeOrientationPtr_t
Definition fwd.hh:169
hpp::constraints::size_type
pinocchio::size_type size_type
Definition fwd.hh:48
hpp::constraints::ConvexShapeContactPtr_t
shared_ptr< ConvexShapeContact > ConvexShapeContactPtr_t
Definition fwd.hh:129
hpp::constraints::ImplicitConstraintSetPtr_t
shared_ptr< ImplicitConstraintSet > ImplicitConstraintSetPtr_t
Definition fwd.hh:179
hpp::constraints::vector7_t
Eigen::Matrix< value_type, 7, 1 > vector7_t
Definition fwd.hh:78
hpp::constraints::ArrayXb
pinocchio::ArrayXb ArrayXb
Definition fwd.hh:81
hpp::constraints::ComJacobian_t
pinocchio::ComJacobian_t ComJacobian_t
Definition fwd.hh:63
hpp::constraints::value_type
pinocchio::value_type value_type
Definition fwd.hh:49
hpp::constraints::JointAndShape_t
std::pair< JointPtr_t, Shape_t > JointAndShape_t
Definition fwd.hh:127
hpp::constraints::ConvexShapeContactComplementPtr_t
shared_ptr< ConvexShapeContactComplement > ConvexShapeContactComplementPtr_t
Definition fwd.hh:131
hpp::constraints::ConstraintReplacement_t
std::map< ImplicitPtr_t, ImplicitPtr_t > ConstraintReplacement_t
Definition fwd.hh:189
hpp::constraints::ConvexShapeContactHoldPtr_t
shared_ptr< ConvexShapeContactHold > ConvexShapeContactHoldPtr_t
Definition fwd.hh:132
hpp::constraints::DistanceBetweenPointsInBodiesPtr_t
shared_ptr< DistanceBetweenPointsInBodies > DistanceBetweenPointsInBodiesPtr_t
Definition fwd.hh:121
hpp::constraints::StaticStabilityPtr_t
shared_ptr< StaticStability > StaticStabilityPtr_t
Definition fwd.hh:133
hpp::constraints::BlockIndex
Eigen::BlockIndex BlockIndex
Definition fwd.hh:172
hpp::constraints::RelativeOrientation
GenericTransformation< RelativeBit|OrientationBit > RelativeOrientation
Definition fwd.hh:155
hpp::constraints::Shape_t
std::vector< vector3_t > Shape_t
Definition fwd.hh:126
hpp::constraints::vectorIn_t
pinocchio::vectorIn_t vectorIn_t
Definition fwd.hh:61
hpp::constraints::ConfigurationIn_t
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition fwd.hh:108
hpp::constraints::matrix_t
pinocchio::matrix_t matrix_t
Definition fwd.hh:57
hpp::constraints::matrixOut_t
Eigen::Ref< matrix_t > matrixOut_t
Definition fwd.hh:59
hpp::constraints::ActiveSetDifferentiableFunctionPtr_t
shared_ptr< ActiveSetDifferentiableFunction > ActiveSetDifferentiableFunctionPtr_t
Definition fwd.hh:118
hpp::constraints::OrientationPtr_t
shared_ptr< Orientation > OrientationPtr_t
Definition fwd.hh:166
hpp::constraints::RelativeTransformationR3xSO3
GenericTransformation< RelativeBit|PositionBit|OrientationBit|OutputR3xSO3Bit > RelativeTransformationR3xSO3
Definition fwd.hh:160
hpp::constraints::CenterOfMassComputationPtr_t
pinocchio::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t
Definition fwd.hh:114
hpp::constraints::OrientationSO3
GenericTransformation< OrientationBit|OutputR3xSO3Bit > OrientationSO3
Definition fwd.hh:161
hpp::constraints::ConfigurationConstraintPtr_t
shared_ptr< ConfigurationConstraint > ConfigurationConstraintPtr_t
Definition fwd.hh:135
hpp::constraints::ImplicitConstPtr_t
shared_ptr< const Implicit > ImplicitConstPtr_t
Definition fwd.hh:176
hpp::constraints::LockedJointPtr_t
shared_ptr< LockedJoint > LockedJointPtr_t
Definition fwd.hh:209
hpp::constraints::RelativePositionPtr_t
shared_ptr< RelativePosition > RelativePositionPtr_t
Definition fwd.hh:168
hpp::constraints::segments_t
std::vector< segment_t > segments_t
Definition fwd.hh:86
hpp::constraints::Orientation
GenericTransformation< OrientationBit > Orientation
Definition fwd.hh:151
hpp::constraints::matrixIn_t
Eigen::Ref< const matrix_t > matrixIn_t
Definition fwd.hh:58
hpp::constraints::bool_array_t
ArrayXb bool_array_t
Definition fwd.hh:82
hpp::constraints::vectorOut_t
pinocchio::vectorOut_t vectorOut_t
Definition fwd.hh:62
hpp::constraints::Device
pinocchio::Device Device
Definition fwd.hh:110
hpp::constraints::RelativePosition
GenericTransformation< RelativeBit|PositionBit > RelativePosition
Definition fwd.hh:154
hpp::constraints::NumericalConstraints_t
std::vector< constraints::ImplicitPtr_t > NumericalConstraints_t
Definition fwd.hh:177
hpp::constraints::vector_t
pinocchio::vector_t vector_t
Definition fwd.hh:60
hpp::constraints::RelativeComPtr_t
shared_ptr< RelativeCom > RelativeComPtr_t
Definition fwd.hh:122
hpp::constraints::LiegroupElementConstRef
pinocchio::LiegroupElementConstRef LiegroupElementConstRef
Definition fwd.hh:68
hpp::constraints::CenterOfMassComputation
pinocchio::CenterOfMassComputation CenterOfMassComputation
Definition fwd.hh:113
hpp::constraints::DistanceBetweenBodiesPtr_t
shared_ptr< DistanceBetweenBodies > DistanceBetweenBodiesPtr_t
Definition fwd.hh:119
hpp::constraints::ExplicitConstPtr_t
shared_ptr< const Explicit > ExplicitConstPtr_t
Definition fwd.hh:186
hpp::constraints::LiegroupElementRef
pinocchio::LiegroupElementRef LiegroupElementRef
Definition fwd.hh:67
hpp::constraints::ConvexShapes_t
std::vector< ConvexShape > ConvexShapes_t
Definition fwd.hh:95
hpp::constraints::ComparisonType
ComparisonType
Definition fwd.hh:181
hpp::constraints::Inferior
@ Inferior
Definition fwd.hh:181
hpp::constraints::Superior
@ Superior
Definition fwd.hh:181
hpp::constraints::EqualToZero
@ EqualToZero
Definition fwd.hh:181
hpp::constraints::Equality
@ Equality
Definition fwd.hh:181
hpp::constraints::matrix6_t
Eigen::Matrix< value_type, 6, 6 > matrix6_t
Definition fwd.hh:55
hpp::constraints::JointPtr_t
pinocchio::JointPtr_t JointPtr_t
Definition fwd.hh:50
hpp::constraints::vector8_t
Eigen::Matrix< value_type, 8, 1 > vector8_t
Definition fwd.hh:56
hpp::constraints::RelativeTransformation
GenericTransformation< RelativeBit|PositionBit|OrientationBit > RelativeTransformation
Definition fwd.hh:153
hpp::constraints::ConfigurationOut_t
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition fwd.hh:109
hpp::constraints::JointConstPtr_t
pinocchio::JointConstPtr_t JointConstPtr_t
Definition fwd.hh:51
hpp::constraints::IdentityPtr_t
shared_ptr< Identity > IdentityPtr_t
Definition fwd.hh:136
hpp::pinocchio::DevicePtr_t
shared_ptr< Device > DevicePtr_t
hpp::pinocchio::CenterOfMassComputationPtr_t
shared_ptr< CenterOfMassComputation > CenterOfMassComputationPtr_t
hpp::pinocchio::CollisionObjectConstPtr_t
shared_ptr< const CollisionObject > CollisionObjectConstPtr_t
hpp::pinocchio::JointPtr_t
shared_ptr< Joint > JointPtr_t
hpp::pinocchio::ObjectVector_t
ObjectVector ObjectVector_t
hpp::pinocchio::vector_t
Eigen::Matrix< value_type, Eigen::Dynamic, 1 > vector_t
hpp::pinocchio::vectorOut_t
Eigen::Ref< vector_t > vectorOut_t
hpp::pinocchio::LiegroupSpaceConstPtr_t
shared_ptr< const LiegroupSpace > LiegroupSpaceConstPtr_t
hpp::pinocchio::vector3_t
Eigen::Matrix< value_type, 3, 1 > vector3_t
hpp::pinocchio::matrix_t
Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > matrix_t
hpp::pinocchio::LiegroupSpacePtr_t
shared_ptr< LiegroupSpace > LiegroupSpacePtr_t
hpp::pinocchio::size_type
matrix_t::Index size_type
hpp::pinocchio::JointJacobian_t
Eigen::Matrix< value_type, 6, Eigen::Dynamic > JointJacobian_t
hpp::pinocchio::Transform3s
::pinocchio::SE3 Transform3s
hpp::pinocchio::ConfigurationOut_t
Eigen::Ref< Configuration_t > ConfigurationOut_t
hpp::pinocchio::value_type
double value_type
hpp::pinocchio::Configuration_t
vector_t Configuration_t
hpp::pinocchio::matrix3_t
Eigen::Matrix< value_type, 3, 3 > matrix3_t
hpp::pinocchio::JointConstPtr_t
shared_ptr< const Joint > JointConstPtr_t
hpp::pinocchio::ArrayXb
Eigen::Array< bool, Eigen::Dynamic, 1 > ArrayXb
hpp::pinocchio::ComJacobian_t
Eigen::Matrix< value_type, 3, Eigen::Dynamic > ComJacobian_t
hpp::pinocchio::DeviceConstPtr_t
shared_ptr< const Device > DeviceConstPtr_t
hpp::pinocchio::vectorIn_t
Eigen::Ref< const vector_t > vectorIn_t
hpp::pinocchio::CollisionObjectPtr_t
shared_ptr< CollisionObject > CollisionObjectPtr_t
hpp::pinocchio::ConfigurationIn_t
Eigen::Ref< const Configuration_t > ConfigurationIn_t
hpp
Eigen::BlockIndex
Definition matrix-view.hh:49
hpp::constraints::ConstantFunction
Definition affine-function.hh:147