Todo List

Class hpp::constraints::AffineFunction

should we handle specifically this function is the solvers ?

Struct hpp::constraints::ConstantFunction

should we handle specifically this function is the solvers ?

Class hpp::constraints::Identity

should we handle specifically this function is the solvers ?

Member hpp::constraints::JlogSO3 (const value_type &theta, const Eigen::MatrixBase< Derived > &log, matrix3_t &Jlog)

remove this and use pinocchio::Jlog3

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

make this function robust to orthogonal inputs.

Member hpp::constraints::solver::saturation::Device::saturate (vectorIn_t q, vectorOut_t qSat, Eigen::VectorXi &saturation)

write a visitor.