hpp-constraints  4.14.0
Definition of basic geometric constraints for motion planning
implicit-constraint-set.hh
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29 
30 #ifndef HPP_CONSTRAINTS_IMPLICIT_CONSTRAINT_SET_HH
31 #define HPP_CONSTRAINTS_IMPLICIT_CONSTRAINT_SET_HH
32 
34 #include <hpp/constraints/fwd.hh>
36 
37 namespace hpp {
38 namespace constraints {
41 
46  public:
47  typedef std::vector<ImplicitPtr_t> Implicits_t;
48 
52  static ImplicitConstraintSetPtr_t create(const std::string& name) {
54  }
55 
57 
60 
61  void add(const ImplicitPtr_t& constraint) {
62  assert(HPP_DYNAMIC_PTR_CAST(DifferentiableFunctionSet, function_));
64  HPP_STATIC_PTR_CAST(DifferentiableFunctionSet, function_));
65  functions->add(constraint->functionPtr());
66  constraints_.push_back(constraint);
67  // Handle comparison types
68  const ComparisonTypes_t& comp(constraint->comparisonType());
69  for (std::size_t i = 0; i < comp.size(); ++i) {
70  comparison_.push_back(comp[i]);
71  }
72  // Handle mask
73  mask_.insert(mask_.end(), constraint->mask_.begin(),
74  constraint->mask_.end());
75  // Recompute active rows
76  computeActiveRows();
77  computeIndices();
78  // Resize temporary variables
79  output_ = LiegroupElement(functions->outputSpace());
80  logOutput_.resize(functions->outputSpace()->nv());
81  }
82 
84  const Implicits_t& constraints() const { return constraints_; }
85 
87  void merge(const ImplicitConstraintSetPtr_t& other) {
88  const Implicits_t& constraints = other->constraints();
89  for (Implicits_t::const_iterator constraint = constraints.begin();
90  constraint != constraints.end(); ++constraint)
91  add(*constraint);
92  }
93 
95 
96  std::ostream& print(std::ostream& os) const {
97  function_->print(os);
98  return os;
99  }
100 
104  ImplicitConstraintSet(const std::string& name)
106  std::vector<bool>()) {}
107 
109  : Implicit(DifferentiableFunctionSet::create("Stack"),
110  ComparisonTypes_t(), std::vector<bool>()) {}
111 
113  : Implicit(DifferentiableFunctionSet::create("Stack"),
114  ComparisonTypes_t(), std::vector<bool>()) {
115  const Implicits_t& constraints = o.constraints();
116  for (Implicits_t::const_iterator constraint = constraints.begin();
117  constraint != constraints.end(); ++constraint)
118  add(*constraint);
119  }
120 
121  private:
122  Implicits_t constraints_;
123 
124  HPP_SERIALIZABLE();
125 }; // class ImplicitConstraintSet
127 } // namespace constraints
128 } // namespace hpp
129 
130 #endif // HPP_CONSTRAINTS_IMPLICIT_CONSTRAINT_SET_HH
std::vector< ImplicitPtr_t > Implicits_t
Definition: implicit-constraint-set.hh:47
Definition: implicit-constraint-set.hh:45
ImplicitConstraintSet(const std::string &name)
Definition: implicit-constraint-set.hh:104
void merge(const ImplicitConstraintSetPtr_t &other)
The output columns selection of other is not taken into account.
Definition: implicit-constraint-set.hh:87
Definition: active-set-differentiable-function.hh:36
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:65
ImplicitConstraintSet(const ImplicitConstraintSet &o)
Definition: implicit-constraint-set.hh:112
Definition: differentiable-function-set.hh:44
const Implicits_t & constraints() const
Get constraints.
Definition: implicit-constraint-set.hh:84
ImplicitConstraintSet()
Definition: implicit-constraint-set.hh:108
std::vector< ComparisonType > ComparisonTypes_t
Definition: fwd.hh:182
assert(d.lhs()._blocks()==d.rhs()._blocks())
static ImplicitConstraintSetPtr_t create(const std::string &name)
Definition: implicit-constraint-set.hh:52
std::ostream & print(std::ostream &os) const
Definition: implicit-constraint-set.hh:96
virtual ~ImplicitConstraintSet()
Definition: implicit-constraint-set.hh:56
void add(const ImplicitPtr_t &constraint)
Definition: implicit-constraint-set.hh:61
shared_ptr< DifferentiableFunctionSet > DifferentiableFunctionSetPtr_t
Definition: fwd.hh:114
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
shared_ptr< ImplicitConstraintSet > ImplicitConstraintSetPtr_t
Definition: fwd.hh:179
shared_ptr< Implicit > ImplicitPtr_t
Definition: fwd.hh:175
Definition: implicit.hh:124