29 #ifndef HPP_CONSTRAINTS_EXPLICIT_HH 30 #define HPP_CONSTRAINTS_EXPLICIT_HH 35 namespace constraints {
160 std::vector<bool> mask = std::vector<bool>());
168 return inputToOutput_;
200 virtual void jacobianOutputValue(
vectorIn_t qin,
247 bool isEqual(
const Implicit& other,
bool swapAndTest)
const;
250 void init(
const ExplicitWkPtr_t& weak);
263 ExplicitWkPtr_t weak_;
273 #endif // HPP_CONSTRAINTS_EXPLICIT_HH std::vector< segment_t > segments_t
Definition: fwd.hh:83
segments_t inputConf_
Definition: explicit.hh:255
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:59
DifferentiableFunctionPtr_t inputToOutput_
Definition: explicit.hh:254
const segments_t & outputVelocity() const
Get output degrees of freedom.
Definition: explicit.hh:174
Definition: active-set-differentiable-function.hh:36
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:68
pinocchio::LiegroupElementConstRef LiegroupElementConstRef
Definition: fwd.hh:66
Definition: explicit.hh:132
const segments_t & inputConf() const
Get input configuration variables.
Definition: explicit.hh:176
std::vector< ComparisonType > ComparisonTypes_t
Definition: fwd.hh:180
shared_ptr< Explicit > ExplicitPtr_t
Definition: fwd.hh:183
segments_t outputVelocity_
Definition: explicit.hh:258
DifferentiableFunctionPtr_t explicitFunction() const
Definition: explicit.hh:167
const segments_t & inputVelocity() const
Get input degrees of freedom.
Definition: explicit.hh:178
shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
Definition: fwd.hh:111
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:65
Explicit()
Definition: explicit.hh:260
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:57
const segments_t & outputConf() const
Get output configuration variables.
Definition: explicit.hh:172
segments_t outputConf_
Definition: explicit.hh:256
shared_ptr< Implicit > ImplicitPtr_t
Definition: fwd.hh:173
Definition: implicit.hh:124
segments_t inputVelocity_
Definition: explicit.hh:257