29 #ifndef HPP_CONSTRAINTS_FUNCTION_OF_PARAMETER_SUBSET_HH 30 #define HPP_CONSTRAINTS_FUNCTION_OF_PARAMETER_SUBSET_HH 35 namespace constraints {
82 g_->value(y, arg.segment(sa_.first, sa_.second));
86 g_->jacobian(J.middleCols(sd_.first, sd_.second),
87 arg.segment(sa_.first, sa_.second));
95 if (g_ != castother.
g_)
return false;
96 if (sa_ != castother.
sa_)
return false;
97 if (sd_ != castother.
sd_)
return false;
102 std::ostream& print(std::ostream& os)
const;
110 #endif // HPP_CONSTRAINTS_FUNCTION_OF_PARAMETER_SUBSET_HH void impl_compute(LiegroupElementRef y, vectorIn_t arg) const
User implementation of function evaluation.
Definition: of-parameter-subset.hh:81
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:59
DifferentiableFunctionPtr_t g_
Definition: of-parameter-subset.hh:104
Definition: active-set-differentiable-function.hh:36
shared_ptr< OfParameterSubset > OfParameterSubsetPtr_t
Definition: fwd.hh:211
std::pair< size_type, size_type > segment_t
Definition: fwd.hh:82
static OfParameterSubsetPtr_t create(const DifferentiableFunctionPtr_t &g, const size_type &nArgs, const size_type &nDers, const segment_t &inArgs, const segment_t &inDers)
Definition: of-parameter-subset.hh:60
virtual bool isEqual(const DifferentiableFunction &other) const
Definition: differentiable-function.hh:190
Definition: differentiable-function.hh:63
Definition: of-parameter-subset.hh:51
void impl_jacobian(matrixOut_t J, vectorIn_t arg) const
Definition: of-parameter-subset.hh:85
shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
Definition: fwd.hh:111
const segment_t sa_
Definition: of-parameter-subset.hh:105
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:65
pinocchio::size_type size_type
Definition: fwd.hh:47
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:57
const segment_t sd_
Definition: of-parameter-subset.hh:105
bool isEqual(const DifferentiableFunction &other) const
Definition: of-parameter-subset.hh:90