17 #ifndef HPP_CONSTRAINTS_CONVEX_SHAPE_CONTACT_HH 18 # define HPP_CONSTRAINTS_CONVEX_SHAPE_CONTACT_HH 30 namespace constraints {
84 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
123 return floorConvexShapes_;
128 return objectConvexShapes_;
139 void setNormalMargin (
const value_type& margin);
146 std::ostream& print (std::ostream& o)
const;
167 void computeRadius();
172 bool& isInside, ContactType& type,
vector6_t& value,
173 std::size_t& iobject, std::size_t& ifloor)
const;
177 bool& isInside, ContactType& type,
matrix_t& jacobian)
const;
183 bool selectConvexShapes (
const pinocchio::DeviceData& data,
184 std::size_t& iobject, std::size_t& ifloor)
186 ContactType contactType (
const ConvexShape&
object,
190 mutable GenericTransformationModel<true> relativeTransformationModel_;
234 createPair(
const std::string& name,
DevicePtr_t robot,
244 void computeRelativePoseRightHandSide
325 #endif // HPP_CONSTRAINTS_CONVEX_SHAPE_CONTACT_HH pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:48
Definition: active-set-differentiable-function.hh:24
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:97
pinocchio::LiegroupElementConstRef LiegroupElementConstRef
Definition: fwd.hh:55
pinocchio::matrix_t matrix_t
Definition: fwd.hh:44
pinocchio::vector3_t vector3_t
Definition: fwd.hh:40
shared_ptr< ConvexShapeContactComplement > ConvexShapeContactComplementPtr_t
Definition: fwd.hh:122
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:94
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:38
shared_ptr< ConvexShapeContact > ConvexShapeContactPtr_t
Definition: fwd.hh:120
Definition: differentiable-function.hh:52
shared_ptr< ConvexShapeContactHold > ConvexShapeContactHoldPtr_t
Definition: fwd.hh:124
Eigen::Matrix< value_type, 6, 1 > vector6_t
Definition: fwd.hh:64
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:54
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:46
std::vector< ConvexShape > ConvexShapes_t
Definition: fwd.hh:80
Definition: convex-shape.hh:64
pinocchio::value_type value_type
Definition: fwd.hh:37
std::list< JointAndShape_t > JointAndShapes_t
Definition: fwd.hh:118