hpp-constraints: hpp::constraints Namespace Reference

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

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Namespaces | Classes | Typedefs | Enumerations | Functions | Variables
hpp::constraints Namespace Reference

## Namespaces
namespace | eigen
namespace | explicit_
namespace | function
namespace | internal
namespace | solver

## Classes
class | ActiveSetDifferentiableFunction
class | AffineFunction
class | CalculusBase
class | CalculusBaseAbstract
class | ComBetweenFeet
class | ConfigurationConstraint
| Square distance between input configuration and reference configuration. More...
struct | ConstantFunction
class | ConvexShape
class | ConvexShapeContact
class | ConvexShapeContactComplement
class | ConvexShapeContactHold
struct | ConvexShapeData
class | CrossProduct
| Cross product of two expressions. More...
class | Difference
| Difference of two expressions. More...
class | DifferentiableFunction
class | DifferentiableFunctionSet
class | DistanceBetweenBodies
class | DistanceBetweenPointsInBodies
class | Explicit
class | ExplicitConstraintSet
class | Expression
| Base class for classes representing an operation. More...
class | FunctionExp
| Basic expression mapping a function as an expression. More...
class | FunctionNotDefinedForThisValue
| Exception thrown when a function is evaluated outside its definition domain. More...
class | GenericTransformation
class | Identity
class | Implicit
class | ImplicitConstraintSet
class | JointFrame
struct | JointTranspose
class | LockedJoint
class | Manipulability
class | MatrixOfExpressions
| Matrix having Expression elements. More...
class | MinManipulability
class | Point
class | PointCom
| Basic expression representing a COM. More...
class | PointInJoint
| Basic expression representing a point in a joint frame. More...
class | QPStaticStability
class | RelativeCom
class | RotationMultiply
| Multiplication of an expression by a rotation matrix. More...
class | ScalarMultiply
| Multiplication of an expression by a scalar. More...
class | ScalarProduct
| Scalar product of two expressions. More...
class | StaticStability
class | Sum
| Sum of two expressions. More...
class | SymbolicFunction
struct | Traits
struct | Traits< JointTranspose >
struct | Traits< pinocchio::Joint >
struct | Traits< value_type >
class | VectorInJoint
| Basic expression representing a vector in a joint frame. More...

## Typedefs
typedef pinocchio::size_type | size_type
typedef pinocchio::value_type | value_type
typedef pinocchio::JointPtr_t | JointPtr_t
typedef pinocchio::JointConstPtr_t | JointConstPtr_t
typedef pinocchio::Joint | Joint
typedef pinocchio::vector3_t | vector3_t
typedef pinocchio::matrix3_t | matrix3_t
typedef Eigen::Matrix< value_type, 6, 6 > | matrix6_t
typedef Eigen::Matrix< value_type, 8, 1 > | vector8_t
typedef pinocchio::matrix_t | matrix_t
typedef Eigen::Ref< const matrix_t > | matrixIn_t
typedef Eigen::Ref< matrix_t > | matrixOut_t
typedef pinocchio::vector_t | vector_t
typedef pinocchio::vectorIn_t | vectorIn_t
typedef pinocchio::vectorOut_t | vectorOut_t
typedef pinocchio::ComJacobian_t | ComJacobian_t
typedef pinocchio::JointJacobian_t | JointJacobian_t
typedef pinocchio::Transform3s | Transform3s
typedef pinocchio::LiegroupElement | LiegroupElement
typedef pinocchio::LiegroupElementRef | LiegroupElementRef
typedef pinocchio::LiegroupElementConstRef | LiegroupElementConstRef
typedef pinocchio::LiegroupSpace | LiegroupSpace
typedef pinocchio::LiegroupSpacePtr_t | LiegroupSpacePtr_t
typedef pinocchio::LiegroupSpaceConstPtr_t | LiegroupSpaceConstPtr_t
typedef Eigen::Matrix< value_type, 5, 1 > | vector5_t
typedef Eigen::Matrix< value_type, 6, 1 > | vector6_t
typedef Eigen::Matrix< value_type, 7, 1 > | vector7_t
typedef Eigen::Quaternion< value_type > | Quaternion_t
typedef pinocchio::ArrayXb | ArrayXb
typedef ArrayXb | bool_array_t
typedef std::pair< size_type, size_type > | segment_t
typedef std::pair< value_type, value_type > | interval_t
typedef std::vector< segment_t > | segments_t
typedef std::vector< ConvexShape > | ConvexShapes_t
typedef pinocchio::ObjectVector_t | ObjectVector_t
typedef pinocchio::CollisionObjectPtr_t | CollisionObjectPtr_t
typedef pinocchio::CollisionObjectConstPtr_t | CollisionObjectConstPtr_t
typedef pinocchio::Configuration_t | Configuration_t
typedef pinocchio::ConfigurationIn_t | ConfigurationIn_t
typedef pinocchio::ConfigurationOut_t | ConfigurationOut_t
typedef pinocchio::Device | Device
typedef pinocchio::DevicePtr_t | DevicePtr_t
typedef pinocchio::DeviceConstPtr_t | DeviceConstPtr_t
typedef pinocchio::CenterOfMassComputation | CenterOfMassComputation
typedef pinocchio::CenterOfMassComputationPtr_t | CenterOfMassComputationPtr_t
typedef shared_ptr< DifferentiableFunction > | DifferentiableFunctionPtr_t
typedef shared_ptr< DifferentiableFunctionSet > | DifferentiableFunctionSetPtr_t
typedef shared_ptr< ActiveSetDifferentiableFunction > | ActiveSetDifferentiableFunctionPtr_t
typedef shared_ptr< DistanceBetweenBodies > | DistanceBetweenBodiesPtr_t
typedef shared_ptr< DistanceBetweenPointsInBodies > | DistanceBetweenPointsInBodiesPtr_t
typedef shared_ptr< RelativeCom > | RelativeComPtr_t
typedef shared_ptr< ComBetweenFeet > | ComBetweenFeetPtr_t
typedef std::vector< vector3_t > | Shape_t
typedef std::pair< JointPtr_t, Shape_t > | JointAndShape_t
typedef std::vector< JointAndShape_t > | JointAndShapes_t
typedef shared_ptr< ConvexShapeContact > | ConvexShapeContactPtr_t
typedef shared_ptr< ConvexShapeContactComplement > | ConvexShapeContactComplementPtr_t
typedef shared_ptr< ConvexShapeContactHold > | ConvexShapeContactHoldPtr_t
typedef shared_ptr< StaticStability > | StaticStabilityPtr_t
typedef shared_ptr< QPStaticStability > | QPStaticStabilityPtr_t
typedef shared_ptr< ConfigurationConstraint > | ConfigurationConstraintPtr_t
typedef shared_ptr< Identity > | IdentityPtr_t
typedef shared_ptr< AffineFunction > | AffineFunctionPtr_t
typedef shared_ptr< ConstantFunction > | ConstantFunctionPtr_t
typedef GenericTransformation< PositionBit > | Position
typedef GenericTransformation< OrientationBit > | Orientation
typedef GenericTransformation< RelativeBit|PositionBit|OrientationBit > | RelativeTransformation
typedef GenericTransformation< RelativeBit|PositionBit > | RelativePosition
typedef GenericTransformation< RelativeBit|OrientationBit > | RelativeOrientation
typedef GenericTransformation< PositionBit|OrientationBit|OutputR3xSO3Bit > | TransformationR3xSO3
typedef GenericTransformation< RelativeBit|PositionBit|OrientationBit|OutputR3xSO3Bit > | RelativeTransformationR3xSO3
typedef GenericTransformation< OrientationBit|OutputR3xSO3Bit > | OrientationSO3
typedef GenericTransformation< RelativeBit|OrientationBit|OutputR3xSO3Bit > | RelativeOrientationSO3
typedef shared_ptr< Position > | PositionPtr_t
typedef shared_ptr< Orientation > | OrientationPtr_t
typedef shared_ptr< Transformation > | TransformationPtr_t
typedef shared_ptr< RelativePosition > | RelativePositionPtr_t
typedef shared_ptr< RelativeOrientation > | RelativeOrientationPtr_t
typedef shared_ptr< RelativeTransformation > | RelativeTransformationPtr_t
typedef Eigen::BlockIndex | BlockIndex
typedef shared_ptr< Implicit > | ImplicitPtr_t
typedef shared_ptr< const Implicit > | ImplicitConstPtr_t
typedef std::vector< constraints::ImplicitPtr_t > | NumericalConstraints_t
typedef shared_ptr< ImplicitConstraintSet > | ImplicitConstraintSetPtr_t
typedef std::vector< ComparisonType > | ComparisonTypes_t
typedef shared_ptr< Explicit > | ExplicitPtr_t
typedef shared_ptr< const Explicit > | ExplicitConstPtr_t
typedef std::map< ImplicitPtr_t, ImplicitPtr_t > | ConstraintReplacement_t
typedef shared_ptr< LockedJoint > | LockedJointPtr_t
typedef shared_ptr< const LockedJoint > | LockedJointConstPtr_t
typedef std::vector< LockedJointPtr_t > | LockedJoints_t
typedef shared_ptr< Manipulability > | ManipulabilityPtr_t
typedef shared_ptr< MinManipulability > | MinManipulabilityPtr_t
typedef eigen::matrix3_t | CrossMatrix
typedef Eigen::Matrix< value_type, 1, Eigen::Dynamic, Eigen::RowMajor > | RowJacobianMatrix
typedef Eigen::Matrix< value_type, 3, Eigen::Dynamic, Eigen::RowMajor > | JacobianMatrix

## Enumerations
enum | ComparisonType { Equality , EqualToZero , Superior , Inferior }

## Functions
internal::ReplicateCompType | operator* (const int &n, const ComparisonType &c)
ComparisonTypes_t | operator<< (const ComparisonType &a, const ComparisonType &b)
ComparisonTypes_t | operator<< (const internal::ReplicateCompType &a, const ComparisonType &b)
ComparisonTypes_t | operator<< (const ComparisonType &a, const internal::ReplicateCompType &b)
ComparisonTypes_t & | operator<< (ComparisonTypes_t &v, const ComparisonType &c)
ComparisonTypes_t & | operator<< (ComparisonTypes_t &v, const internal::ReplicateCompType &c)
ComparisonTypes_t | operator<< (const ComparisonTypes_t &v, const ComparisonType &c)
ComparisonTypes_t | operator<< (const ComparisonTypes_t &v, const internal::ReplicateCompType &c)
bool | operator== (const ComparisonTypes_t &v, const internal::ReplicateCompType &r)
std::ostream & | operator<< (std::ostream &os, const ComparisonTypes_t &comp)
void | closestPointToSegment (const vector3_t &P, const vector3_t &A, const vector3_t &v, vector3_t &B)
vector3_t | linePlaneIntersection (const vector3_t &A, const vector3_t &u, const vector3_t &P, const vector3_t &n)
std::ostream & | operator<< (std::ostream &os, const DifferentiableFunction &f)
| HPP_PREDEF_CLASS (DifferentiableFunction)
| HPP_PREDEF_CLASS (DifferentiableFunctionSet)
| HPP_PREDEF_CLASS (ActiveSetDifferentiableFunction)
| HPP_PREDEF_CLASS (DistanceBetweenBodies)
| HPP_PREDEF_CLASS (DistanceBetweenPointsInBodies)
| HPP_PREDEF_CLASS (RelativeCom)
| HPP_PREDEF_CLASS (ComBetweenFeet)
| HPP_PREDEF_CLASS (StaticStability)
| HPP_PREDEF_CLASS (QPStaticStability)
| HPP_PREDEF_CLASS (ConvexShapeContact)
| HPP_PREDEF_CLASS (ConvexShapeContactComplement)
| HPP_PREDEF_CLASS (ConvexShapeContactHold)
| HPP_PREDEF_CLASS (ConfigurationConstraint)
| HPP_PREDEF_CLASS (Identity)
| HPP_PREDEF_CLASS (AffineFunction)
| HPP_PREDEF_CLASS (ConstantFunction)
| HPP_PREDEF_CLASS (Implicit)
| HPP_PREDEF_CLASS (ImplicitConstraintSet)
| HPP_PREDEF_CLASS (Explicit)
| HPP_PREDEF_CLASS (LockedJoint)
std::ostream & | operator<< (std::ostream &os, const LockedJoint &lj)
| HPP_PREDEF_CLASS (Manipulability)
| HPP_PREDEF_CLASS (MinManipulability)
template<typename SVD >
void | projectorOnSpan (const SVD &svd, Eigen::Ref< typename SVD::MatrixType > projector)
template<typename SVD >
void | projectorOnSpanOfInv (const SVD &svd, Eigen::Ref< typename SVD::MatrixType > projector)
template<typename SVD >
void | projectorOnKernel (const SVD &svd, Eigen::Ref< typename SVD::MatrixType > projector, const bool &computeFullV=false)
template<typename SVD >
void | projectorOnKernelOfInv (const SVD &svd, Eigen::Ref< typename SVD::MatrixType > projector, const bool &computeFullU=false)
template<typename Derived >
void | logSO3 (const matrix3_t &R, value_type &theta, Eigen::MatrixBase< Derived > const &result)
template<typename Derived >
void | JlogSO3 (const value_type &theta, const Eigen::MatrixBase< Derived > &log, matrix3_t &Jlog)
template<typename Derived >
void | logSE3 (const Transform3s &M, Eigen::MatrixBase< Derived > &result)
template<typename Derived >
void | JlogSE3 (const Transform3s &M, Eigen::MatrixBase< Derived > const &Jlog)
template<typename Derived1 , typename Derived2 >
void | matrixToQuat (const Eigen::MatrixBase< Derived1 > &M, Eigen::MatrixBase< Derived2 > const &q)
template<typename Derived >
void | se3ToConfig (const Transform3s &M, Eigen::MatrixBase< Derived > const &q)

## Variables
DEVEL typedef GenericTransformation< PositionBit|OrientationBit > | Transformation

## Typedef Documentation

## ◆ ActiveSetDifferentiableFunctionPtr_t

typedef shared_ptr<ActiveSetDifferentiableFunction> hpp::constraints::ActiveSetDifferentiableFunctionPtr_t

## ◆ AffineFunctionPtr_t

typedef shared_ptr<AffineFunction> hpp::constraints::AffineFunctionPtr_t

## ◆ ArrayXb

typedef pinocchio::ArrayXb hpp::constraints::ArrayXb

## ◆ BlockIndex

typedef Eigen::BlockIndex hpp::constraints::BlockIndex

## ◆ bool_array_t

typedef ArrayXb hpp::constraints::bool_array_t

## ◆ CenterOfMassComputation

typedef pinocchio::CenterOfMassComputation hpp::constraints::CenterOfMassComputation

## ◆ CenterOfMassComputationPtr_t

typedef pinocchio::CenterOfMassComputationPtr_t hpp::constraints::CenterOfMassComputationPtr_t

## ◆ CollisionObjectConstPtr_t

typedef pinocchio::CollisionObjectConstPtr_t hpp::constraints::CollisionObjectConstPtr_t

## ◆ CollisionObjectPtr_t

typedef pinocchio::CollisionObjectPtr_t hpp::constraints::CollisionObjectPtr_t

## ◆ ComBetweenFeetPtr_t

typedef shared_ptr<ComBetweenFeet> hpp::constraints::ComBetweenFeetPtr_t

## ◆ ComJacobian_t

typedef pinocchio::ComJacobian_t hpp::constraints::ComJacobian_t

## ◆ ComparisonTypes_t

typedef std::vector<ComparisonType> hpp::constraints::ComparisonTypes_t

## ◆ Configuration_t

typedef pinocchio::Configuration_t hpp::constraints::Configuration_t

## ◆ ConfigurationConstraintPtr_t

typedef shared_ptr<ConfigurationConstraint> hpp::constraints::ConfigurationConstraintPtr_t

## ◆ ConfigurationIn_t

typedef pinocchio::ConfigurationIn_t hpp::constraints::ConfigurationIn_t

## ◆ ConfigurationOut_t

typedef pinocchio::ConfigurationOut_t hpp::constraints::ConfigurationOut_t

## ◆ ConstantFunctionPtr_t

typedef shared_ptr<ConstantFunction> hpp::constraints::ConstantFunctionPtr_t

## ◆ ConstraintReplacement_t

typedef std::map<ImplicitPtr_t, ImplicitPtr_t> hpp::constraints::ConstraintReplacement_t

## ◆ ConvexShapeContactComplementPtr_t

typedef shared_ptr<ConvexShapeContactComplement> hpp::constraints::ConvexShapeContactComplementPtr_t

## ◆ ConvexShapeContactHoldPtr_t

typedef shared_ptr<ConvexShapeContactHold> hpp::constraints::ConvexShapeContactHoldPtr_t

## ◆ ConvexShapeContactPtr_t

typedef shared_ptr<ConvexShapeContact> hpp::constraints::ConvexShapeContactPtr_t

## ◆ ConvexShapes_t

typedef std::vector<ConvexShape> hpp::constraints::ConvexShapes_t

## ◆ Device

typedef pinocchio::Device hpp::constraints::Device

## ◆ DeviceConstPtr_t

typedef pinocchio::DeviceConstPtr_t hpp::constraints::DeviceConstPtr_t

## ◆ DevicePtr_t

typedef pinocchio::DevicePtr_t hpp::constraints::DevicePtr_t

## ◆ DifferentiableFunctionPtr_t

typedef shared_ptr<DifferentiableFunction> hpp::constraints::DifferentiableFunctionPtr_t

## ◆ DifferentiableFunctionSetPtr_t

typedef shared_ptr<DifferentiableFunctionSet> hpp::constraints::DifferentiableFunctionSetPtr_t

## ◆ DistanceBetweenBodiesPtr_t

typedef shared_ptr<DistanceBetweenBodies> hpp::constraints::DistanceBetweenBodiesPtr_t

## ◆ DistanceBetweenPointsInBodiesPtr_t

typedef shared_ptr<DistanceBetweenPointsInBodies> hpp::constraints::DistanceBetweenPointsInBodiesPtr_t

## ◆ ExplicitConstPtr_t

typedef shared_ptr<const Explicit> hpp::constraints::ExplicitConstPtr_t

## ◆ ExplicitPtr_t

typedef shared_ptr<Explicit> hpp::constraints::ExplicitPtr_t

## ◆ IdentityPtr_t

typedef shared_ptr<Identity> hpp::constraints::IdentityPtr_t

## ◆ ImplicitConstPtr_t

typedef shared_ptr<const Implicit> hpp::constraints::ImplicitConstPtr_t

## ◆ ImplicitConstraintSetPtr_t

typedef shared_ptr<ImplicitConstraintSet> hpp::constraints::ImplicitConstraintSetPtr_t

## ◆ ImplicitPtr_t

typedef shared_ptr<Implicit> hpp::constraints::ImplicitPtr_t

## ◆ interval_t

typedef std::pair<value_type, value_type> hpp::constraints::interval_t

## ◆ Joint

typedef pinocchio::Joint hpp::constraints::Joint

## ◆ JointAndShape_t

typedef std::pair<JointPtr_t, Shape_t> hpp::constraints::JointAndShape_t

## ◆ JointAndShapes_t

typedef std::vector<JointAndShape_t> hpp::constraints::JointAndShapes_t

## ◆ JointConstPtr_t

typedef pinocchio::JointConstPtr_t hpp::constraints::JointConstPtr_t

## ◆ JointJacobian_t

typedef pinocchio::JointJacobian_t hpp::constraints::JointJacobian_t

## ◆ JointPtr_t

typedef pinocchio::JointPtr_t hpp::constraints::JointPtr_t

## ◆ LiegroupElement

typedef pinocchio::LiegroupElement hpp::constraints::LiegroupElement

## ◆ LiegroupElementConstRef

typedef pinocchio::LiegroupElementConstRef hpp::constraints::LiegroupElementConstRef

## ◆ LiegroupElementRef

typedef pinocchio::LiegroupElementRef hpp::constraints::LiegroupElementRef

## ◆ LiegroupSpace

typedef pinocchio::LiegroupSpace hpp::constraints::LiegroupSpace

## ◆ LiegroupSpaceConstPtr_t

typedef pinocchio::LiegroupSpaceConstPtr_t hpp::constraints::LiegroupSpaceConstPtr_t

## ◆ LiegroupSpacePtr_t

typedef pinocchio::LiegroupSpacePtr_t hpp::constraints::LiegroupSpacePtr_t

## ◆ LockedJointConstPtr_t

typedef shared_ptr<const LockedJoint> hpp::constraints::LockedJointConstPtr_t

## ◆ LockedJointPtr_t

typedef shared_ptr<LockedJoint> hpp::constraints::LockedJointPtr_t

## ◆ LockedJoints_t

typedef std::vector<LockedJointPtr_t> hpp::constraints::LockedJoints_t

## ◆ ManipulabilityPtr_t

typedef shared_ptr<Manipulability> hpp::constraints::ManipulabilityPtr_t

## ◆ matrix3_t

typedef pinocchio::matrix3_t hpp::constraints::matrix3_t

## ◆ matrix6_t

typedef Eigen::Matrix<value_type, 6, 6> hpp::constraints::matrix6_t

## ◆ matrix_t

typedef pinocchio::matrix_t hpp::constraints::matrix_t

## ◆ matrixIn_t

typedef Eigen::Ref<const matrix_t> hpp::constraints::matrixIn_t

## ◆ matrixOut_t

typedef Eigen::Ref<matrix_t> hpp::constraints::matrixOut_t

## ◆ MinManipulabilityPtr_t

typedef shared_ptr<MinManipulability> hpp::constraints::MinManipulabilityPtr_t

## ◆ NumericalConstraints_t

typedef std::vector<constraints::ImplicitPtr_t> hpp::constraints::NumericalConstraints_t

## ◆ ObjectVector_t

typedef pinocchio::ObjectVector_t hpp::constraints::ObjectVector_t

## ◆ Orientation

typedef GenericTransformation<OrientationBit> hpp::constraints::Orientation

## ◆ OrientationPtr_t

typedef shared_ptr<Orientation> hpp::constraints::OrientationPtr_t

## ◆ OrientationSO3

typedef GenericTransformation<OrientationBit | OutputR3xSO3Bit> hpp::constraints::OrientationSO3

## ◆ Position

typedef GenericTransformation<PositionBit> hpp::constraints::Position

## ◆ PositionPtr_t

typedef shared_ptr<Position> hpp::constraints::PositionPtr_t

## ◆ QPStaticStabilityPtr_t

typedef shared_ptr<QPStaticStability> hpp::constraints::QPStaticStabilityPtr_t

## ◆ Quaternion_t

typedef Eigen::Quaternion<value_type> hpp::constraints::Quaternion_t

## ◆ RelativeComPtr_t

typedef shared_ptr<RelativeCom> hpp::constraints::RelativeComPtr_t

## ◆ RelativeOrientation

typedef GenericTransformation<RelativeBit | OrientationBit> hpp::constraints::RelativeOrientation

## ◆ RelativeOrientationPtr_t

typedef shared_ptr<RelativeOrientation> hpp::constraints::RelativeOrientationPtr_t

## ◆ RelativeOrientationSO3

typedef GenericTransformation<RelativeBit | OrientationBit | OutputR3xSO3Bit> hpp::constraints::RelativeOrientationSO3

## ◆ RelativePosition

typedef GenericTransformation<RelativeBit | PositionBit> hpp::constraints::RelativePosition

## ◆ RelativePositionPtr_t

typedef shared_ptr<RelativePosition> hpp::constraints::RelativePositionPtr_t

## ◆ RelativeTransformation

typedef GenericTransformation<RelativeBit | PositionBit | OrientationBit> hpp::constraints::RelativeTransformation

## ◆ RelativeTransformationPtr_t

typedef shared_ptr<RelativeTransformation> hpp::constraints::RelativeTransformationPtr_t

## ◆ RelativeTransformationR3xSO3

typedef GenericTransformation<RelativeBit | PositionBit | OrientationBit | OutputR3xSO3Bit> hpp::constraints::RelativeTransformationR3xSO3

## ◆ segment_t

typedef std::pair<size_type, size_type> hpp::constraints::segment_t

## ◆ segments_t

typedef std::vector<segment_t> hpp::constraints::segments_t

## ◆ Shape_t

typedef std::vector<vector3_t> hpp::constraints::Shape_t

Plane polygon represented by its vertices Used to model contact surfaces for manipulation applications

## ◆ size_type

typedef pinocchio::size_type hpp::constraints::size_type

## ◆ StaticStabilityPtr_t

typedef shared_ptr<StaticStability> hpp::constraints::StaticStabilityPtr_t

## ◆ Transform3s

typedef pinocchio::Transform3s hpp::constraints::Transform3s

## ◆ TransformationPtr_t

typedef shared_ptr<Transformation> hpp::constraints::TransformationPtr_t

## ◆ TransformationR3xSO3

typedef GenericTransformation<PositionBit | OrientationBit | OutputR3xSO3Bit> hpp::constraints::TransformationR3xSO3

## ◆ value_type

typedef pinocchio::value_type hpp::constraints::value_type

## ◆ vector3_t

typedef pinocchio::vector3_t hpp::constraints::vector3_t

## ◆ vector5_t

typedef Eigen::Matrix<value_type, 5, 1> hpp::constraints::vector5_t

## ◆ vector6_t

typedef Eigen::Matrix<value_type, 6, 1> hpp::constraints::vector6_t

## ◆ vector7_t

typedef Eigen::Matrix<value_type, 7, 1> hpp::constraints::vector7_t

## ◆ vector8_t

typedef Eigen::Matrix<value_type, 8, 1> hpp::constraints::vector8_t

## ◆ vector_t

typedef pinocchio::vector_t hpp::constraints::vector_t

## ◆ vectorIn_t

typedef pinocchio::vectorIn_t hpp::constraints::vectorIn_t

## ◆ vectorOut_t

typedef pinocchio::vectorOut_t hpp::constraints::vectorOut_t

## Enumeration Type Documentation

## ◆ ComparisonType

enum hpp::constraints::ComparisonType

Enumerator
Equality |
EqualToZero |
Superior |
Inferior |

## Function Documentation

## ◆ closestPointToSegment()

void hpp::constraints::closestPointToSegment | ( | const vector3_t & | P,
|  | const vector3_t & | A,
|  | const vector3_t & | v,
|  | vector3_t & | B )
| inline

Return the closest point to point P, on a segment line .

Parameters

  | P | PA where P is the point to
  | A | the origin the segment line
  | v | vector presenting the segment line
  [out] | B | the closest point

## ◆ HPP_PREDEF_CLASS() [1/22]

hpp::constraints::HPP_PREDEF_CLASS | ( | ActiveSetDifferentiableFunction |  | ) |

## ◆ HPP_PREDEF_CLASS() [2/22]

hpp::constraints::HPP_PREDEF_CLASS | ( | AffineFunction |  | ) |

## ◆ HPP_PREDEF_CLASS() [3/22]

hpp::constraints::HPP_PREDEF_CLASS | ( | ComBetweenFeet |  | ) |

## ◆ HPP_PREDEF_CLASS() [4/22]

hpp::constraints::HPP_PREDEF_CLASS | ( | ConfigurationConstraint |  | ) |

## ◆ HPP_PREDEF_CLASS() [5/22]

hpp::constraints::HPP_PREDEF_CLASS | ( | ConstantFunction |  | ) |

## ◆ HPP_PREDEF_CLASS() [6/22]

hpp::constraints::HPP_PREDEF_CLASS | ( | ConvexShapeContact |  | ) |

## ◆ HPP_PREDEF_CLASS() [7/22]

hpp::constraints::HPP_PREDEF_CLASS | ( | ConvexShapeContactComplement |  | ) |

## ◆ HPP_PREDEF_CLASS() [8/22]

hpp::constraints::HPP_PREDEF_CLASS | ( | ConvexShapeContactHold |  | ) |

## ◆ HPP_PREDEF_CLASS() [9/22]

hpp::constraints::HPP_PREDEF_CLASS | ( | DifferentiableFunction |  | ) |

## ◆ HPP_PREDEF_CLASS() [10/22]

hpp::constraints::HPP_PREDEF_CLASS | ( | DifferentiableFunctionSet |  | ) |

## ◆ HPP_PREDEF_CLASS() [11/22]

hpp::constraints::HPP_PREDEF_CLASS | ( | DistanceBetweenBodies |  | ) |

## ◆ HPP_PREDEF_CLASS() [12/22]

hpp::constraints::HPP_PREDEF_CLASS | ( | DistanceBetweenPointsInBodies |  | ) |

## ◆ HPP_PREDEF_CLASS() [13/22]

hpp::constraints::HPP_PREDEF_CLASS | ( | Explicit |  | ) |

## ◆ HPP_PREDEF_CLASS() [14/22]

hpp::constraints::HPP_PREDEF_CLASS | ( | Identity |  | ) |

## ◆ HPP_PREDEF_CLASS() [15/22]

hpp::constraints::HPP_PREDEF_CLASS | ( | Implicit |  | ) |

## ◆ HPP_PREDEF_CLASS() [16/22]

hpp::constraints::HPP_PREDEF_CLASS | ( | ImplicitConstraintSet |  | ) |

## ◆ HPP_PREDEF_CLASS() [17/22]

hpp::constraints::HPP_PREDEF_CLASS | ( | LockedJoint |  | ) |

## ◆ HPP_PREDEF_CLASS() [18/22]

hpp::constraints::HPP_PREDEF_CLASS | ( | Manipulability |  | ) |

## ◆ HPP_PREDEF_CLASS() [19/22]

hpp::constraints::HPP_PREDEF_CLASS | ( | MinManipulability |  | ) |

## ◆ HPP_PREDEF_CLASS() [20/22]

hpp::constraints::HPP_PREDEF_CLASS | ( | QPStaticStability |  | ) |

## ◆ HPP_PREDEF_CLASS() [21/22]

hpp::constraints::HPP_PREDEF_CLASS | ( | RelativeCom |  | ) |

## ◆ HPP_PREDEF_CLASS() [22/22]

hpp::constraints::HPP_PREDEF_CLASS | ( | StaticStability |  | ) |

## ◆ linePlaneIntersection()

vector3_t hpp::constraints::linePlaneIntersection | ( | const vector3_t & | A,
|  | const vector3_t & | u,
|  | const vector3_t & | P,
|  | const vector3_t & | n )
| inline

Parameters

  A,u | point and vector defining the line
  P,n | point and normal vector defining the plane

Returns
  the intesection point.

Warning
  `u` and `n` are expected not to be orthogonal.

Todo
  make this function robust to orthogonal inputs.

## ◆ operator*()

internal::ReplicateCompType hpp::constraints::operator* | ( | const int & | n,
|  | const ComparisonType & | c )
| inline

## ◆ operator<<() [1/9]

ComparisonTypes_t & hpp::constraints::operator<< | ( | ComparisonTypes_t & | v,
|  | const ComparisonType & | c )
| inline

## ◆ operator<<() [2/9]

ComparisonTypes_t & hpp::constraints::operator<< | ( | ComparisonTypes_t & | v,
|  | const internal::ReplicateCompType & | c )
| inline

## ◆ operator<<() [3/9]

ComparisonTypes_t hpp::constraints::operator<< | ( | const ComparisonType & | a,
|  | const ComparisonType & | b )
| inline

## ◆ operator<<() [4/9]

ComparisonTypes_t hpp::constraints::operator<< | ( | const ComparisonType & | a,
|  | const internal::ReplicateCompType & | b )
| inline

## ◆ operator<<() [5/9]

ComparisonTypes_t hpp::constraints::operator<< | ( | const ComparisonTypes_t & | v,
|  | const ComparisonType & | c )
| inline

## ◆ operator<<() [6/9]

ComparisonTypes_t hpp::constraints::operator<< | ( | const ComparisonTypes_t & | v,
|  | const internal::ReplicateCompType & | c )
| inline

## ◆ operator<<() [7/9]

ComparisonTypes_t hpp::constraints::operator<< | ( | const internal::ReplicateCompType & | a,
|  | const ComparisonType & | b )
| inline

## ◆ operator<<() [8/9]

std::ostream & hpp::constraints::operator<< | ( | std::ostream & | os,
|  | const ComparisonTypes_t & | comp )
| inline

## ◆ operator<<() [9/9]

std::ostream & hpp::constraints::operator<< | ( | std::ostream & | os,
|  | const LockedJoint & | lj )
| inline

## ◆ operator==()

bool hpp::constraints::operator== | ( | const ComparisonTypes_t & | v,
|  | const internal::ReplicateCompType & | r )
| inline

## ◆ projectorOnKernel()

template<typename SVD >

void hpp::constraints::projectorOnKernel | ( | const SVD & | svd,
|  | Eigen::Ref< typename SVD::MatrixType > | projector,
|  | const bool & | computeFullV = false )

## ◆ projectorOnKernelOfInv()

template<typename SVD >

void hpp::constraints::projectorOnKernelOfInv | ( | const SVD & | svd,
|  | Eigen::Ref< typename SVD::MatrixType > | projector,
|  | const bool & | computeFullU = false )

## ◆ projectorOnSpan()

template<typename SVD >

void hpp::constraints::projectorOnSpan | ( | const SVD & | svd,
|  | Eigen::Ref< typename SVD::MatrixType > | projector )

## ◆ projectorOnSpanOfInv()

template<typename SVD >

void hpp::constraints::projectorOnSpanOfInv | ( | const SVD & | svd,
|  | Eigen::Ref< typename SVD::MatrixType > | projector )

## Variable Documentation

## ◆ Transformation

DEVEL typedef GenericTransformation<PositionBit | OrientationBit> hpp::constraints::Transformation