31 #ifndef HPP_CONSTRAINTS_FWD_HH 32 #define HPP_CONSTRAINTS_FWD_HH 35 #include <hpp/pinocchio/fwd.hh> 43 namespace constraints {
115 typedef shared_ptr<ActiveSetDifferentiableFunction>
118 typedef shared_ptr<DistanceBetweenPointsInBodies>
128 typedef shared_ptr<ConvexShapeContactComplement>
138 template <
int _Options>
142 const int RelativeBit = 0x1;
143 const int PositionBit = 0x2;
144 const int OrientationBit = 0x4;
145 const int OutputR3xSO3Bit = 0x8;
192 namespace explicit_ {
216 #endif // HPP_CONSTRAINTS_FWD_HH std::vector< segment_t > segments_t
Definition: fwd.hh:83
shared_ptr< StaticStability > StaticStabilityPtr_t
Definition: fwd.hh:131
Definition: static-stability.hh:44
Definition: distance-between-bodies.hh:49
pinocchio::vector_t vector_t
Definition: fwd.hh:58
GenericTransformation< OrientationBit|OutputR3xSO3Bit > OrientationSO3
Definition: fwd.hh:159
ComparisonType
Definition: fwd.hh:179
GenericTransformation< RelativeBit|PositionBit|OrientationBit > RelativeTransformation
Definition: fwd.hh:151
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:59
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:106
Definition: implicit-constraint-set.hh:45
Eigen::Matrix< value_type, 3, 3 > matrix3_t
Definition: fwd.hh:71
shared_ptr< RelativePose > RelativePosePtr_t
Definition: fwd.hh:195
pinocchio::CenterOfMassComputation CenterOfMassComputation
Definition: fwd.hh:109
shared_ptr< ConfigurationConstraint > ConfigurationConstraintPtr_t
Definition: fwd.hh:133
pinocchio::JointJacobian_t JointJacobian_t
Definition: fwd.hh:62
Definition: distance-between-points-in-bodies.hh:47
Definition: matrix-view.hh:49
GenericTransformation< RelativeBit|OrientationBit|OutputR3xSO3Bit > RelativeOrientationSO3
Definition: fwd.hh:161
GenericTransformation< PositionBit|OrientationBit|OutputR3xSO3Bit > TransformationR3xSO3
Definition: fwd.hh:155
shared_ptr< QPStaticStability > QPStaticStabilityPtr_t
Definition: fwd.hh:132
Definition: active-set-differentiable-function.hh:36
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:68
pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t
Definition: fwd.hh:102
ArrayXb bool_array_t
Definition: fwd.hh:80
Definition: locked-joint.hh:66
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:108
shared_ptr< ActiveSetDifferentiableFunction > ActiveSetDifferentiableFunctionPtr_t
Definition: fwd.hh:116
shared_ptr< ComBetweenFeet > ComBetweenFeetPtr_t
Definition: fwd.hh:121
shared_ptr< const Explicit > ExplicitConstPtr_t
Definition: fwd.hh:184
Definition: com-between-feet.hh:67
std::vector< constraints::ImplicitPtr_t > NumericalConstraints_t
Definition: fwd.hh:175
Eigen::Ref< const matrix_t > matrixIn_t
Definition: fwd.hh:56
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:64
GenericTransformation< PositionBit > Position
Definition: fwd.hh:148
GenericTransformation< OrientationBit > Orientation
Definition: fwd.hh:149
Definition: affine-function.hh:81
Square distance between input configuration and reference configuration.
Definition: configuration-constraint.hh:43
pinocchio::LiegroupElementConstRef LiegroupElementConstRef
Definition: fwd.hh:66
shared_ptr< RelativeTransformation > RelativeTransformationPtr_t
Definition: fwd.hh:168
HPP_PREDEF_CLASS(DifferentiableFunction)
GenericTransformation< RelativeBit|PositionBit > RelativePosition
Definition: fwd.hh:152
DifferentiableFunctionSet DifferentiableFunctionStack HPP_CONSTRAINTS_DEPRECATED
Definition: fwd.hh:114
pinocchio::matrix3_t matrix3_t
Definition: fwd.hh:52
shared_ptr< OfParameterSubset > OfParameterSubsetPtr_t
Definition: fwd.hh:211
std::pair< size_type, size_type > segment_t
Definition: fwd.hh:82
Definition: explicit.hh:132
Definition: qp-static-stability.hh:54
pinocchio::matrix_t matrix_t
Definition: fwd.hh:55
shared_ptr< ConvexShapeContact > ConvexShapeContactPtr_t
Definition: fwd.hh:201
pinocchio::ArrayXb ArrayXb
Definition: fwd.hh:79
Eigen::Matrix< value_type, 5, 1 > vector5_t
Definition: fwd.hh:74
Definition: differentiable-function-set.hh:44
pinocchio::Device Device
Definition: fwd.hh:107
pinocchio::ComJacobian_t ComJacobian_t
Definition: fwd.hh:61
Eigen::BlockIndex BlockIndex
Definition: fwd.hh:170
pinocchio::vector3_t vector3_t
Definition: fwd.hh:51
Definition: implicit-function.hh:49
shared_ptr< ConvexShapeContactComplement > ConvexShapeContactComplementPtr_t
Definition: fwd.hh:129
pinocchio::LiegroupSpace LiegroupSpace
Definition: fwd.hh:67
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:104
shared_ptr< RelativeOrientation > RelativeOrientationPtr_t
Definition: fwd.hh:167
Eigen::Matrix< value_type, 3, 1 > vector3_t
Definition: fwd.hh:72
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:105
std::vector< ComparisonType > ComparisonTypes_t
Definition: fwd.hh:180
shared_ptr< Explicit > ExplicitPtr_t
Definition: fwd.hh:183
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:49
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:103
shared_ptr< DistanceBetweenBodies > DistanceBetweenBodiesPtr_t
Definition: fwd.hh:117
pinocchio::JointConstPtr_t JointConstPtr_t
Definition: fwd.hh:50
pinocchio::ObjectVector_t ObjectVector_t
Definition: fwd.hh:101
shared_ptr< ConstantFunction > ConstantFunctionPtr_t
Definition: fwd.hh:136
shared_ptr< Position > PositionPtr_t
Definition: fwd.hh:163
shared_ptr< ConvexShapeContact > ConvexShapeContactPtr_t
Definition: fwd.hh:127
shared_ptr< const Implicit > ImplicitConstPtr_t
Definition: fwd.hh:174
shared_ptr< ConvexShapeContactHold > ConvexShapeContactHoldPtr_t
Definition: fwd.hh:130
shared_ptr< Identity > IdentityPtr_t
Definition: fwd.hh:134
std::vector< LockedJointPtr_t > LockedJoints_t
Definition: fwd.hh:207
GenericTransformation< RelativeBit|PositionBit|OrientationBit|OutputR3xSO3Bit > RelativeTransformationR3xSO3
Definition: fwd.hh:158
Definition: affine-function.hh:147
pinocchio::LiegroupSpaceConstPtr_t LiegroupSpaceConstPtr_t
Definition: fwd.hh:69
Definition: relative-com.hh:67
shared_ptr< DistanceBetweenPointsInBodies > DistanceBetweenPointsInBodiesPtr_t
Definition: fwd.hh:119
shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
Definition: fwd.hh:111
Eigen::Matrix< value_type, 8, 1 > vector8_t
Definition: fwd.hh:54
Eigen::Matrix< value_type, 6, 1 > vector6_t
Definition: fwd.hh:75
std::vector< vector3_t > Shape_t
Definition: fwd.hh:124
Definition: by-substitution.hh:72
Eigen::Matrix< value_type, 7, 1 > vector7_t
Definition: fwd.hh:76
std::pair< JointPtr_t, Shape_t > JointAndShape_t
Definition: fwd.hh:125
shared_ptr< Transformation > TransformationPtr_t
Definition: fwd.hh:165
shared_ptr< RelativeCom > RelativeComPtr_t
Definition: fwd.hh:120
shared_ptr< DifferentiableFunctionSet > DifferentiableFunctionSetPtr_t
Definition: fwd.hh:112
shared_ptr< RelativeTransformation > RelativeTransformationPtr_t
Definition: fwd.hh:197
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:60
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:65
shared_ptr< ImplicitConstraintSet > ImplicitConstraintSetPtr_t
Definition: fwd.hh:177
pinocchio::size_type size_type
Definition: fwd.hh:47
Eigen::Quaternion< value_type > Quaternion_t
Definition: fwd.hh:77
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:57
HPP_PREDEF_CLASS(OfParameterSubset)
shared_ptr< AffineFunction > AffineFunctionPtr_t
Definition: fwd.hh:135
std::vector< ConvexShape > ConvexShapes_t
Definition: fwd.hh:91
Definition: convex-shape.hh:73
HPP_PREDEF_CLASS(RelativePose)
shared_ptr< const LockedJoint > LockedJointConstPtr_t
Definition: fwd.hh:206
shared_ptr< Implicit > ImplicitPtr_t
Definition: fwd.hh:173
pinocchio::value_type value_type
Definition: fwd.hh:48
Definition: implicit.hh:124
DEVEL typedef GenericTransformation< PositionBit|OrientationBit > Transformation
Definition: fwd.hh:139
GenericTransformation< RelativeBit|OrientationBit > RelativeOrientation
Definition: fwd.hh:153
Definition: hierarchical-iterative.hh:219
std::list< JointAndShape_t > JointAndShapes_t
Definition: fwd.hh:126
shared_ptr< RelativePosition > RelativePositionPtr_t
Definition: fwd.hh:166
Eigen::Matrix< value_type, 6, 6 > matrix6_t
Definition: fwd.hh:53
shared_ptr< Orientation > OrientationPtr_t
Definition: fwd.hh:164
shared_ptr< ImplicitFunction > ImplicitFunctionPtr_t
Definition: fwd.hh:199
Definition: explicit-constraint-set.hh:99
Definition: affine-function.hh:46
pinocchio::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t
Definition: fwd.hh:110
pinocchio::Transform3f Transform3f
Definition: fwd.hh:63
shared_ptr< LockedJoint > LockedJointPtr_t
Definition: fwd.hh:205