hpp-pinocchio
6.0.0
Wrapping of the kinematic/dynamic chain Pinocchio for HPP.
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extra-config-space.hh
Go to the documentation of this file.
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//
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// Copyright (c) 2013, 2014 CNRS
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// Author: Florent Lamiraux
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//
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are
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// met:
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//
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// 1. Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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//
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// 2. Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
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// DAMAGE.
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#ifndef HPP_PINOCCHIO_EXTRA_CONFIG_SPACE_HH
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#define HPP_PINOCCHIO_EXTRA_CONFIG_SPACE_HH
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#include <
hpp/pinocchio/fwd.hh
>
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namespace
hpp
{
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namespace
pinocchio
{
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class
ExtraConfigSpace
{
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public
:
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ExtraConfigSpace
() : dimension_(0), lowerBounds_(), upperBounds_() {
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lowerBounds_.resize(0);
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upperBounds_.resize(0);
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}
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value_type
&
lower
(
const
size_type
& index) {
return
lowerBounds_[index]; }
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value_type
&
upper
(
const
size_type
& index) {
return
upperBounds_[index]; }
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const
value_type
&
lower
(
const
size_type
& index)
const
{
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return
lowerBounds_[index];
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}
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const
value_type
&
upper
(
const
size_type
& index)
const
{
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return
upperBounds_[index];
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}
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const
vector_t
&
lower
()
const
{
return
lowerBounds_; }
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const
vector_t
&
upper
()
const
{
return
upperBounds_; }
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size_type
dimension
()
const
{
return
dimension_; }
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private
:
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void
setDimension(
const
size_type
&
dimension
) {
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dimension_ =
dimension
;
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lowerBounds_.resize(
dimension
);
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upperBounds_.resize(
dimension
);
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lowerBounds_.setConstant(-std::numeric_limits<value_type>::infinity());
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upperBounds_.setConstant(+std::numeric_limits<value_type>::infinity());
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}
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size_type
dimension_;
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vector_t
lowerBounds_;
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vector_t
upperBounds_;
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friend
class
Device
;
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};
// class ExtraConfigSpace
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}
// namespace pinocchio
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}
// namespace hpp
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#endif
// HPP_PINOCCHIO_EXTRA_CONFIG_SPACE_HH
hpp::pinocchio::ExtraConfigSpace::upper
value_type & upper(const size_type &index)
Definition
extra-config-space.hh:52
hpp::pinocchio::ExtraConfigSpace::lower
const value_type & lower(const size_type &index) const
Definition
extra-config-space.hh:53
hpp::pinocchio::ExtraConfigSpace::lower
value_type & lower(const size_type &index)
Definition
extra-config-space.hh:51
hpp::pinocchio::ExtraConfigSpace::Device
friend class Device
Definition
extra-config-space.hh:78
hpp::pinocchio::ExtraConfigSpace::lower
const vector_t & lower() const
Definition
extra-config-space.hh:59
hpp::pinocchio::ExtraConfigSpace::ExtraConfigSpace
ExtraConfigSpace()
Definition
extra-config-space.hh:47
hpp::pinocchio::ExtraConfigSpace::upper
const vector_t & upper() const
Definition
extra-config-space.hh:60
hpp::pinocchio::ExtraConfigSpace::upper
const value_type & upper(const size_type &index) const
Definition
extra-config-space.hh:56
hpp::pinocchio::ExtraConfigSpace::dimension
size_type dimension() const
Get dimension.
Definition
extra-config-space.hh:62
fwd.hh
hpp::pinocchio
Definition
body.hh:40
hpp::pinocchio::vector_t
Eigen::Matrix< value_type, Eigen::Dynamic, 1 > vector_t
Definition
fwd.hh:88
hpp::pinocchio::size_type
matrix_t::Index size_type
Definition
fwd.hh:97
hpp::pinocchio::value_type
double value_type
Definition
fwd.hh:51
hpp
Utility functions.
Definition
body.hh:39
include
hpp
pinocchio
extra-config-space.hh
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