29 #ifndef HPP_CONSTRAINTS_EXPLICIT_RELATIVE_TRANSFORMATION_HH 30 #define HPP_CONSTRAINTS_EXPLICIT_RELATIVE_TRANSFORMATION_HH 37 namespace constraints {
93 std::vector<bool> mask = std::vector<bool>(6,
true));
98 parentJoint_(other.parentJoint_),
99 inConf_(other.inConf_),
100 inVel_(other.inVel_),
101 outConf_(other.outConf_),
102 outVel_(other.outVel_),
103 F1inJ1_invF2inJ2_(other.F1inJ1_invF2inJ2_) {}
106 void init(
const RelativeTransformationWkPtr_t& weak) { weak_ = weak; }
123 if (robot_ != castother.robot_)
return false;
124 if (parentJoint_ != castother.parentJoint_)
return false;
125 if (joint1_ != castother.joint1_)
return false;
126 if (joint2_ != castother.joint2_)
return false;
127 if (frame1_ != castother.frame1_)
return false;
128 if (frame2_ != castother.frame2_)
return false;
129 if (inConf_.rows() != castother.inConf_.
rows())
return false;
130 if (inVel_.cols() != castother.inVel_.
cols())
return false;
131 if (outConf_.rows() != castother.outConf_.
rows())
return false;
132 if (outVel_.rows() != castother.outVel_.
rows())
return false;
133 if (F1inJ1_invF2inJ2_ != castother.F1inJ1_invF2inJ2_)
return false;
146 RowBlockIndices inConf_;
147 ColBlockIndices inVel_;
148 RowBlockIndices outConf_, outVel_;
151 RelativeTransformationWkPtr_t weak_;
155 mutable matrix_t tmpJac_, J2_parent_minus_J1_;
168 #endif // HPP_CONSTRAINTS_EXPLICIT_RELATIVE_TRANSFORMATION_HH std::vector< segment_t > segments_t
Definition: fwd.hh:83
pinocchio::vector_t vector_t
Definition: fwd.hh:58
GenericTransformation< RelativeBit|PositionBit|OrientationBit > RelativeTransformation
Definition: fwd.hh:151
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:59
Definition: matrix-view.hh:49
Definition: active-set-differentiable-function.hh:36
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:108
shared_ptr< RelativeTransformation > RelativeTransformationPtr_t
Definition: fwd.hh:168
pinocchio::matrix_t matrix_t
Definition: fwd.hh:55
virtual bool isEqual(const DifferentiableFunction &other) const
Definition: differentiable-function.hh:190
pinocchio::JointConstPtr_t JointConstPtr_t
Definition: fwd.hh:50
Definition: differentiable-function.hh:63
const ColIndices_t & cols() const
Definition: matrix-view.hh:677
shared_ptr< RelativeTransformation > RelativeTransformationPtr_t
Definition: fwd.hh:197
#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
const RowIndices_t & rows() const
Definition: matrix-view.hh:673
pinocchio::Transform3f Transform3f
Definition: fwd.hh:63