18 #ifndef HPP_CONSTRAINTS_IMPLICIT_HH 19 # define HPP_CONSTRAINTS_IMPLICIT_HH 26 # include <hpp/util/serialization-fwd.hh> 28 # include <hpp/pinocchio/liegroup-element.hh> 31 namespace constraints {
119 return isEqual (other,
true);
127 std::vector<bool> mask = std::vector<bool>());
243 return equalityIndices_;
249 void setInactiveRowsToZero(
vectorOut_t error)
const;
282 virtual bool isEqual (
const Implicit& other,
bool swapAndTest)
const;
285 void init (
const ImplicitWkPtr_t& weak)
292 void computeIndices();
293 void computeActiveRows();
299 std::vector<bool> mask_;
302 std::vector<std::size_t> inequalityIndices_;
304 ImplicitWkPtr_t weak_;
317 #endif // HPP_CONSTRAINTS_IMPLICIT_HH pinocchio::vector_t vector_t
Definition: fwd.hh:47
const segments_t & activeRows() const
Definition: implicit.hh:235
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:48
Definition: implicit-constraint-set.hh:34
virtual ~Implicit()
Definition: implicit.hh:132
Definition: active-set-differentiable-function.hh:24
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:53
pinocchio::LiegroupElementConstRef LiegroupElementConstRef
Definition: fwd.hh:55
DifferentiableFunctionSet DifferentiableFunctionStack HPP_CONSTRAINTS_DEPRECATED
Definition: fwd.hh:105
bool operator==(const ComparisonTypes_t &v, const internal::ReplicateCompType &r)
Definition: comparison-types.hh:117
std::vector< segment_t > segments_t
Definition: fwd.hh:72
const Eigen::RowBlockIndices & equalityIndices() const
Get indices of constraint coordinates that are equality.
Definition: implicit.hh:241
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:94
std::vector< ComparisonType > ComparisonTypes_t
Definition: fwd.hh:176
Definition: differentiable-function.hh:52
void init(const ImplicitWkPtr_t &weak)
Definition: implicit.hh:285
shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
Definition: fwd.hh:101
const DifferentiableFunctionPtr_t & functionPtr() const
Return a reference to function .
Definition: implicit.hh:258
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:49
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:54
pinocchio::size_type size_type
Definition: fwd.hh:36
shared_ptr< Implicit > ImplicitPtr_t
Definition: fwd.hh:163
pinocchio::value_type value_type
Definition: fwd.hh:37
Definition: implicit.hh:114
Implicit()
Definition: implicit.hh:309