17 #ifndef HPP_CONSTRAINTS_EXPLICIT_HH 18 # define HPP_CONSTRAINTS_EXPLICIT_HH 23 namespace constraints {
182 return inputToOutput_;
193 return outputVelocity_;
203 return inputVelocity_;
298 void init (
const ExplicitWkPtr_t& weak);
309 ExplicitWkPtr_t weak_;
317 #endif // HPP_CONSTRAINTS_EXPLICIT_HH segments_t inputConf_
Definition: explicit.hh:302
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:48
DifferentiableFunctionPtr_t inputToOutput_
Definition: explicit.hh:301
const segments_t & outputVelocity() const
Get output degrees of freedom.
Definition: explicit.hh:191
Definition: active-set-differentiable-function.hh:24
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:57
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:97
pinocchio::LiegroupElementConstRef LiegroupElementConstRef
Definition: fwd.hh:55
DifferentiableFunctionSet DifferentiableFunctionStack HPP_CONSTRAINTS_DEPRECATED
Definition: fwd.hh:105
std::vector< segment_t > segments_t
Definition: fwd.hh:72
Definition: explicit.hh:118
const segments_t & inputConf() const
Get input configuration variables.
Definition: explicit.hh:196
std::vector< ComparisonType > ComparisonTypes_t
Definition: fwd.hh:176
segments_t outputVelocity_
Definition: explicit.hh:305
boost::shared_ptr< Explicit > ExplicitPtr_t
Definition: fwd.hh:179
DifferentiableFunctionPtr_t explicitFunction() const
Definition: explicit.hh:180
const segments_t & inputVelocity() const
Get input degrees of freedom.
Definition: explicit.hh:201
boost::shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
Definition: fwd.hh:101
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:54
Explicit()
Definition: explicit.hh:307
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:46
const segments_t & outputConf() const
Get output configuration variables.
Definition: explicit.hh:186
segments_t outputConf_
Definition: explicit.hh:303
Definition: implicit.hh:99
boost::shared_ptr< Implicit > ImplicitPtr_t
Definition: fwd.hh:163
segments_t inputVelocity_
Definition: explicit.hh:304