17 #ifndef HPP_CONSTRAINTS_EXPLICIT_CONVEX_SHAPE_CONTACT_HH 18 #define HPP_CONSTRAINTS_EXPLICIT_CONVEX_SHAPE_CONTACT_HH 21 #include <boost/tuple/tuple.hpp> 24 namespace constraints {
29 typedef boost::tuple<ImplicitPtr_t, ImplicitPtr_t, ExplicitPtr_t>
89 virtual void jacobianOutputValue
107 void init (ConvexShapeContactWkPtr_t weak);
111 std::vector<RelativePosePtr_t> pose_;
115 ConvexShapeContactWkPtr_t weak_;
120 #endif // HPP_CONSTRAINTS_EXPLICIT_CONVEX_SHAPE_CONTACT_HH
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:48
Definition: active-set-differentiable-function.hh:24
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:97
pinocchio::LiegroupElementConstRef LiegroupElementConstRef
Definition: fwd.hh:55
Definition: explicit.hh:118
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:54
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:46
pinocchio::value_type value_type
Definition: fwd.hh:37
boost::shared_ptr< ConvexShapeContact > ConvexShapeContactPtr_t
Definition: fwd.hh:198
boost::shared_ptr< Implicit > ImplicitPtr_t
Definition: fwd.hh:163
std::list< JointAndShape_t > JointAndShapes_t
Definition: fwd.hh:118