29 #ifndef HPP_CONSTRAINTS_EXPLICIT_IMPLICIT_FUNCTION_HH 30 #define HPP_CONSTRAINTS_EXPLICIT_IMPLICIT_FUNCTION_HH 36 namespace constraints {
51 typedef shared_ptr<ImplicitFunction>
Ptr_t;
97 if (robot_ != castother.robot_)
return false;
98 if (inputToOutput_ != castother.inputToOutput_)
return false;
99 if (inputConfIntervals_.
rows() != castother.inputConfIntervals_.
rows())
101 if (outputConfIntervals_.
rows() != castother.outputConfIntervals_.
rows())
103 if (inputDerivIntervals_.
rows() != castother.inputDerivIntervals_.
rows())
105 if (outputDerivIntervals_.
rows() != castother.outputDerivIntervals_.
rows())
112 void computeJacobianBlocks();
120 std::vector<Eigen::MatrixBlocks<false, false> > outJacobian_;
121 std::vector<Eigen::MatrixBlocks<false, false> > inJacobian_;
138 #endif // HPP_CONSTRAINTS_EXPLICIT_IMPLICIT_FUNCTION_HH std::vector< segment_t > segments_t
Definition: fwd.hh:83
pinocchio::vector_t vector_t
Definition: fwd.hh:58
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:59
const DifferentiableFunctionPtr_t & inputToOutput() const
Get function f that maps input variables to output variables.
static Ptr_t create(const LiegroupSpacePtr_t &configSpace, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity)
Definition: active-set-differentiable-function.hh:36
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:68
bool isEqual(const DifferentiableFunction &other) const
Definition: implicit-function.hh:92
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:108
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:64
void impl_jacobian(matrixOut_t jacobian, vectorIn_t arg) const
Compute Jacobian of g (q_out) - f (q_in) with respect to q.
pinocchio::matrix_t matrix_t
Definition: fwd.hh:55
Definition: implicit-function.hh:49
virtual bool isEqual(const DifferentiableFunction &other) const
Definition: differentiable-function.hh:190
void jacobian(matrixOut_t jacobian, vectorIn_t argument) const
Definition: differentiable-function.hh:88
Definition: differentiable-function.hh:63
shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
Definition: fwd.hh:111
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:65
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:57
shared_ptr< ImplicitFunction > Ptr_t
Definition: implicit-function.hh:51
const RowIndices_t & rows() const
Definition: matrix-view.hh:673
void impl_compute(LiegroupElementRef result, vectorIn_t argument) const
Compute g (q_out) - f (q_in)