19 #ifndef HPP_CONSTRAINTS_IMPLICIT_CONSTRAINT_SET_HH 20 # define HPP_CONSTRAINTS_IMPLICIT_CONSTRAINT_SET_HH 27 namespace constraints {
60 functions->add (constraint->functionPtr ());
61 constraints_.push_back(constraint);
64 for (std::size_t i = 0; i < comp.size(); ++i) {
65 comparison_.push_back (comp[i]);
68 mask_.insert(mask_.end(), constraint->mask_.begin(),
69 constraint->mask_.end());
75 logOutput_.resize(functions->outputSpace()->nv());
87 const Implicits_t& constraints = other->constraints();
88 for (Implicits_t::const_iterator constraint = constraints.begin();
89 constraint != constraints.end(); ++constraint)
95 std::ostream&
print (std::ostream& os)
const 97 function_->print (os);
120 for (Implicits_t::const_iterator constraint = constraints.begin();
121 constraint != constraints.end(); ++constraint)
126 Implicits_t constraints_;
134 #endif // HPP_CONSTRAINTS_IMPLICIT_CONSTRAINT_SET_HH std::vector< ImplicitPtr_t > Implicits_t
Definition: implicit-constraint-set.hh:38
Definition: implicit-constraint-set.hh:34
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:85
Definition: active-set-differentiable-function.hh:24
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:53
ImplicitConstraintSet(const ImplicitConstraintSet &o)
Definition: implicit-constraint-set.hh:115
Definition: differentiable-function-set.hh:33
const Implicits_t & constraints() const
Get constraints.
Definition: implicit-constraint-set.hh:79
ImplicitConstraintSet()
Definition: implicit-constraint-set.hh:110
std::vector< ComparisonType > ComparisonTypes_t
Definition: fwd.hh:176
assert(d.lhs()._blocks()==d.rhs()._blocks())
static ImplicitConstraintSetPtr_t create(const std::string &name)
Definition: implicit-constraint-set.hh:43
std::ostream & print(std::ostream &os) const
Definition: implicit-constraint-set.hh:95
virtual ~ImplicitConstraintSet()
Definition: implicit-constraint-set.hh:49
void add(const ImplicitPtr_t &constraint)
Definition: implicit-constraint-set.hh:54
shared_ptr< DifferentiableFunctionSet > DifferentiableFunctionSetPtr_t
Definition: fwd.hh:103
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
shared_ptr< ImplicitConstraintSet > ImplicitConstraintSetPtr_t
Definition: fwd.hh:168
shared_ptr< Implicit > ImplicitPtr_t
Definition: fwd.hh:163
Definition: implicit.hh:114