29 #ifndef HPP_CONSTRAINTS_CONVEX_SHAPE_CONTACT_HH 30 #define HPP_CONSTRAINTS_CONVEX_SHAPE_CONTACT_HH 41 namespace constraints {
100 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
138 return floorConvexShapes_;
142 return objectConvexShapes_;
150 void setNormalMargin(
const value_type& margin);
153 std::vector<ForceData> computeContactPoints(
157 std::ostream& print(std::ostream& o)
const;
180 void computeRadius();
186 std::size_t& iobject, std::size_t& ifloor)
const;
190 bool& isInside, ContactType& type,
197 bool selectConvexShapes(
const pinocchio::DeviceData& data,
198 std::size_t& iobject, std::size_t& ifloor)
const;
203 mutable GenericTransformationModel<true> relativeTransformationModel_;
245 static std::pair<ConvexShapeContactPtr_t, ConvexShapeContactComplementPtr_t>
246 createPair(
const std::string& name,
DevicePtr_t robot,
256 void computeRelativePoseRightHandSide(
333 #endif // HPP_CONSTRAINTS_CONVEX_SHAPE_CONTACT_HH pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:59
Definition: active-set-differentiable-function.hh:36
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:108
pinocchio::LiegroupElementConstRef LiegroupElementConstRef
Definition: fwd.hh:66
pinocchio::matrix_t matrix_t
Definition: fwd.hh:55
pinocchio::vector3_t vector3_t
Definition: fwd.hh:51
shared_ptr< ConvexShapeContactComplement > ConvexShapeContactComplementPtr_t
Definition: fwd.hh:129
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:105
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:49
shared_ptr< ConvexShapeContact > ConvexShapeContactPtr_t
Definition: fwd.hh:127
Definition: differentiable-function.hh:63
shared_ptr< ConvexShapeContactHold > ConvexShapeContactHoldPtr_t
Definition: fwd.hh:130
Eigen::Matrix< value_type, 6, 1 > vector6_t
Definition: fwd.hh:75
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:65
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:57
std::vector< ConvexShape > ConvexShapes_t
Definition: fwd.hh:91
Definition: convex-shape.hh:73
pinocchio::value_type value_type
Definition: fwd.hh:48
std::list< JointAndShape_t > JointAndShapes_t
Definition: fwd.hh:126