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
	Differentiable function. More...

class	MatrixOfExpressions
	Matrix having Expression elements. More...

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 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

typedef GenericTransformation< RelativeBit\|PositionBit\|OrientationBit >	RelativeTransformation

typedef shared_ptr< RelativeTransformation >	RelativeTransformationPtr_t

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)

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)