31 #ifndef HPP_CONSTRAINTS_DISTANCE_BETWEEN_BODIES_HH 32 #define HPP_CONSTRAINTS_DISTANCE_BETWEEN_BODIES_HH 36 #include <hpp/pinocchio/collision-object.hh> 37 #include <hpp/pinocchio/liegroup-element.hh> 38 #include <pinocchio/multibody/geometry.hpp> 41 namespace constraints {
52 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
74 const std::vector<CollisionObjectPtr_t>& objects);
96 const std::vector<CollisionObjectPtr_t>& objects);
107 if (robot_ != castother.robot_)
return false;
108 if (joint1_ != castother.joint1_)
return false;
109 if (joint2_ != castother.joint2_)
return false;
110 if (data_ != castother.data_)
return false;
116 typedef ::pinocchio::GeometryData GeometryData;
121 mutable GeometryData data_;
122 mutable std::size_t minIndex_;
129 #endif // HPP_CONSTRAINTS_DISTANCE_BETWEEN_BODIES_HH Definition: distance-between-bodies.hh:49
virtual ~DistanceBetweenBodies()
Definition: distance-between-bodies.hh:76
Definition: active-set-differentiable-function.hh:36
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:108
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:64
virtual bool isEqual(const DifferentiableFunction &other) const
Definition: differentiable-function.hh:190
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:104
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:105
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:49
shared_ptr< DistanceBetweenBodies > DistanceBetweenBodiesPtr_t
Definition: fwd.hh:117
Definition: differentiable-function.hh:63
bool isEqual(const DifferentiableFunction &other) const
Definition: distance-between-bodies.hh:102
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:65
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:57