29 #ifndef HPP_CONSTRAINTS_STATIC_STABILITY_HH 30 #define HPP_CONSTRAINTS_STATIC_STABILITY_HH 40 namespace constraints {
47 static const Eigen::Matrix<value_type, 6, 1>
Gravity;
54 if (joint != other.
joint)
return false;
55 if (point != other.
point)
return false;
56 if (normal != other.
normal)
return false;
86 if (robot_ != castother.robot_)
return false;
87 if (contacts_ != castother.contacts_)
return false;
88 if (com_ != castother.com_)
return false;
115 Contacts_t contacts_;
122 mutable matrix_t uDot_, uMinusDot_, vDot_;
129 #endif // HPP_CONSTRAINTS_STATIC_STABILITY_HH shared_ptr< StaticStability > StaticStabilityPtr_t
Definition: fwd.hh:131
Definition: static-stability.hh:44
pinocchio::vector_t vector_t
Definition: fwd.hh:59
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:60
std::vector< Contact_t > Contacts_t
Definition: static-stability.hh:60
Definition: active-set-differentiable-function.hh:36
MatrixOfExpressions & phi()
Definition: static-stability.hh:78
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:109
Matrix having Expression elements.
Definition: symbolic-calculus.hh:867
Eigen::Ref< const matrix_t > matrixIn_t
Definition: fwd.hh:57
pinocchio::matrix_t matrix_t
Definition: fwd.hh:56
pinocchio::vector3_t vector3_t
Definition: fwd.hh:52
virtual bool isEqual(const DifferentiableFunction &other) const
Definition: differentiable-function.hh:206
bool isEqual(const DifferentiableFunction &other) const
Definition: static-stability.hh:81
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:106
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:49
Definition: differentiable-function.hh:63
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:88
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:61
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:66
pinocchio::size_type size_type
Definition: fwd.hh:47
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:58
static const Eigen::Matrix< value_type, 6, 1 > Gravity
Definition: static-stability.hh:47
static const value_type G
Definition: static-stability.hh:46
pinocchio::value_type value_type
Definition: fwd.hh:48
pinocchio::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t
Definition: fwd.hh:112