31 #ifndef HPP_CONSTRAINTS_COM_BETWEEN_FEET_HH 32 #define HPP_CONSTRAINTS_COM_BETWEEN_FEET_HH 41 namespace constraints {
69 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
77 std::vector<bool> mask = {
true,
true,
true,
true});
86 std::vector<bool> mask = {
true,
true,
true,
true});
95 std::vector<bool> mask);
112 if (robot_ != castother.robot_)
return false;
113 if (com_->centerOfMassComputation() !=
114 castother.com_->centerOfMassComputation())
116 if (left_->joint() != castother.left_->joint())
return false;
117 if (right_->joint() != castother.right_->joint())
return false;
118 if (left_->local() != castother.left_->local())
return false;
119 if (right_->local() != castother.right_->local())
return false;
120 if (jointRef_ != castother.jointRef_)
return false;
121 if (pointRef_ != castother.pointRef_)
return false;
122 if (mask_ != castother.mask_)
return false;
145 std::vector<bool> mask_;
150 #endif // HPP_CONSTRAINTS_COM_BETWEEN_FEET_HH Difference of two expressions.
Definition: symbolic-calculus.hh:112
Eigen::Matrix< value_type, 3, 3 > matrix3_t
Definition: fwd.hh:72
Definition: active-set-differentiable-function.hh:36
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:109
shared_ptr< ComBetweenFeet > ComBetweenFeetPtr_t
Definition: fwd.hh:123
Definition: symbolic-calculus.hh:103
Definition: com-between-feet.hh:67
bool isEqual(const DifferentiableFunction &other) const
Definition: com-between-feet.hh:107
virtual ~ComBetweenFeet()
Definition: com-between-feet.hh:88
pinocchio::vector3_t vector3_t
Definition: fwd.hh:52
virtual bool isEqual(const DifferentiableFunction &other) const
Definition: differentiable-function.hh:206
Eigen::Matrix< value_type, 3, 1 > vector3_t
Definition: fwd.hh:73
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:106
Sum of two expressions.
Definition: symbolic-calculus.hh:114
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:49
Definition: differentiable-function.hh:63
Cross product of two expressions.
Definition: symbolic-calculus.hh:108
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
HPP_CONSTRAINTS_CB_REF< Class > Ptr_t
Definition: symbolic-calculus.hh:127
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:66
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:58
pinocchio::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t
Definition: fwd.hh:112