hpp::constraints Namespace Reference

Namespaces

 eigen
 

Classes

class  CalculusBase
 Main abstract class. More...
 
class  CalculusBaseAbstract
 Abstract class defining a basic common interface. More...
 
class  ComBetweenFeet
 Constraint on the relative position of the center of mass. More...
 
class  CrossProduct
 Cross product of two expressions. More...
 
class  Difference
 Difference of two expressions. More...
 
class  DifferentiableFunction
 Differentiable function. More...
 
class  Expression
 Base class for classes representing an operation. More...
 
class  Orientation
 Constraint on the orientation of a robot joint. More...
 
class  Point
 Basic expression representing a static point. More...
 
class  PointCom
 Basic expression representing a COM. More...
 
class  PointInJoint
 Basic expression representing a point in a joint frame. More...
 
class  Position
 Constraint on the position of a robot point. More...
 
class  RelativeCom
 Constraint on the relative position of the center of mass. More...
 
class  RelativeOrientation
 Constraint on the relative orientation of two robot joints. More...
 
class  RelativePosition
 Constraint on the relative position of two robot joints. More...
 
class  RelativeTransformation
 Constraint on the relative transformation of two robot joints. More...
 
class  RotationMultiply
 Multiplication of an expression by a rotation matrix. More...
 
class  ScalarMultiply
 Multiplication of an expression by a scalar. More...
 
class  StaticStabilityGravity
 
class  Sum
 Sum of two expressions. More...
 
class  Triangle
 

Typedefs

typedef model::ConfigurationIn_t ConfigurationIn_t
 
typedef model::ConfigurationOut_t ConfigurationOut_t
 
typedef model::Device Device
 
typedef model::DevicePtr_t DevicePtr_t
 
typedef model::CenterOfMassComputation CenterOfMassComputation
 
typedef model::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t
 
typedef boost::shared_ptr< DifferentiableFunctionDifferentiableFunctionPtr_t
 
typedef model::size_type size_type
 
typedef model::value_type value_type
 
typedef model::JointPtr_t JointPtr_t
 
typedef model::vector3_t vector3_t
 
typedef model::matrix3_t matrix3_t
 
typedef model::matrix_t matrix_t
 
typedef Eigen::Ref< const matrix_tmatrixIn_t
 
typedef Eigen::Ref< matrix_tmatrixOut_t
 
typedef model::vector_t vector_t
 
typedef model::vectorIn_t vectorIn_t
 
typedef model::vectorOut_t vectorOut_t
 
typedef model::ComJacobian_t ComJacobian_t
 
typedef model::JointJacobian_t JointJacobian_t
 
typedef model::Transform3f Transform3f
 
typedef boost::shared_ptr< OrientationOrientationPtr_t
 
typedef boost::shared_ptr< PositionPositionPtr_t
 
typedef boost::shared_ptr< RelativeOrientationRelativeOrientationPtr_t
 
typedef boost::shared_ptr< RelativeComRelativeComPtr_t
 
typedef boost::shared_ptr< ComBetweenFeetComBetweenFeetPtr_t
 
typedef boost::shared_ptr< RelativePositionRelativePositionPtr_t
 
typedef boost::shared_ptr< RelativeTransformationRelativeTransformationPtr_t
 
typedef boost::shared_ptr< StaticStabilityGravityStaticStabilityGravityPtr_t
 
typedef boost::shared_ptr< CalculusBaseAbstractCalculusPtr_t
 
typedef eigen::matrix3_t CrossMatrix
 
typedef Eigen::Matrix< value_type, 3, Eigen::Dynamic > JacobianMatrix
 

Functions

std::ostream & operator<< (std::ostream &os, const DifferentiableFunction &f)
 
 HPP_PREDEF_CLASS (DifferentiableFunction)
 
 HPP_PREDEF_CLASS (Orientation)
 
 HPP_PREDEF_CLASS (Position)
 
 HPP_PREDEF_CLASS (RelativeCom)
 
 HPP_PREDEF_CLASS (ComBetweenFeet)
 
 HPP_PREDEF_CLASS (RelativeOrientation)
 
 HPP_PREDEF_CLASS (RelativePosition)
 
 HPP_PREDEF_CLASS (RelativeTransformation)
 
 HPP_PREDEF_CLASS (StaticStabilityGravity)
 
void computeLog (vectorOut_t result, double &theta, const fcl::Matrix3f &Rerror)
 
void computeJlog (const double &theta, vectorIn_t r, eigen::matrix3_t &Jlog)
 
template<typename VectorType , typename MatrixType >
static void computeCrossMatrix (const VectorType &v, MatrixType &m)
 

Typedef Documentation

◆ CenterOfMassComputation

typedef model::CenterOfMassComputation hpp::constraints::CenterOfMassComputation

◆ CenterOfMassComputationPtr_t

typedef model::CenterOfMassComputationPtr_t hpp::constraints::CenterOfMassComputationPtr_t

◆ ComBetweenFeetPtr_t

◆ ComJacobian_t

typedef model::ComJacobian_t hpp::constraints::ComJacobian_t

◆ ConfigurationIn_t

typedef model::ConfigurationIn_t hpp::constraints::ConfigurationIn_t

◆ ConfigurationOut_t

typedef model::ConfigurationOut_t hpp::constraints::ConfigurationOut_t

◆ Device

typedef model::Device hpp::constraints::Device

◆ DevicePtr_t

typedef model::DevicePtr_t hpp::constraints::DevicePtr_t

◆ DifferentiableFunctionPtr_t

◆ JointJacobian_t

typedef model::JointJacobian_t hpp::constraints::JointJacobian_t

◆ JointPtr_t

typedef model::JointPtr_t hpp::constraints::JointPtr_t

◆ matrix3_t

typedef model::matrix3_t hpp::constraints::matrix3_t

◆ matrix_t

typedef model::matrix_t hpp::constraints::matrix_t

◆ matrixIn_t

typedef Eigen::Ref<const matrix_t> hpp::constraints::matrixIn_t

◆ matrixOut_t

◆ OrientationPtr_t

typedef boost::shared_ptr<Orientation> hpp::constraints::OrientationPtr_t

◆ PositionPtr_t

typedef boost::shared_ptr<Position> hpp::constraints::PositionPtr_t

◆ RelativeComPtr_t

typedef boost::shared_ptr<RelativeCom> hpp::constraints::RelativeComPtr_t

◆ RelativeOrientationPtr_t

◆ RelativePositionPtr_t

◆ RelativeTransformationPtr_t

◆ size_type

typedef model::size_type hpp::constraints::size_type

◆ StaticStabilityGravityPtr_t

◆ Transform3f

typedef model::Transform3f hpp::constraints::Transform3f

◆ value_type

typedef model::value_type hpp::constraints::value_type

◆ vector3_t

typedef model::vector3_t hpp::constraints::vector3_t

◆ vector_t

typedef model::vector_t hpp::constraints::vector_t

◆ vectorIn_t

typedef model::vectorIn_t hpp::constraints::vectorIn_t

◆ vectorOut_t

typedef model::vectorOut_t hpp::constraints::vectorOut_t

Function Documentation

◆ computeCrossMatrix()

template<typename VectorType , typename MatrixType >
static void hpp::constraints::computeCrossMatrix ( const VectorType &  v,
MatrixType &  m 
)
static

◆ computeJlog()

void hpp::constraints::computeJlog ( const double &  theta,
vectorIn_t  r,
eigen::matrix3_t Jlog 
)

◆ computeLog()

void hpp::constraints::computeLog ( vectorOut_t  result,
double &  theta,
const fcl::Matrix3f &  Rerror 
)

◆ HPP_PREDEF_CLASS() [1/9]

hpp::constraints::HPP_PREDEF_CLASS ( DifferentiableFunction  )

◆ HPP_PREDEF_CLASS() [2/9]

hpp::constraints::HPP_PREDEF_CLASS ( Orientation  )

◆ HPP_PREDEF_CLASS() [3/9]

hpp::constraints::HPP_PREDEF_CLASS ( Position  )

◆ HPP_PREDEF_CLASS() [4/9]

hpp::constraints::HPP_PREDEF_CLASS ( RelativeCom  )

◆ HPP_PREDEF_CLASS() [5/9]

hpp::constraints::HPP_PREDEF_CLASS ( ComBetweenFeet  )

◆ HPP_PREDEF_CLASS() [6/9]

hpp::constraints::HPP_PREDEF_CLASS ( RelativeOrientation  )

◆ HPP_PREDEF_CLASS() [7/9]

hpp::constraints::HPP_PREDEF_CLASS ( RelativePosition  )

◆ HPP_PREDEF_CLASS() [8/9]

hpp::constraints::HPP_PREDEF_CLASS ( RelativeTransformation  )

◆ HPP_PREDEF_CLASS() [9/9]

hpp::constraints::HPP_PREDEF_CLASS ( StaticStabilityGravity  )