31 #ifndef HPP_CONSTRAINTS_RELATIVE_COM_HH 32 #define HPP_CONSTRAINTS_RELATIVE_COM_HH 39 namespace constraints {
69 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
74 std::vector<bool> mask = std::vector<bool>(3,
true)) {
75 return create(
"RelativeCom", robot, joint, reference, mask);
80 std::vector<bool> mask = std::vector<bool>(3,
true));
84 std::vector<bool> mask = std::vector<bool>(3,
true));
89 std::vector<bool> mask = std::vector<bool>(3,
true));
93 const vector3_t reference, std::vector<bool> mask,
94 const std::string& name);
96 virtual std::ostream& print(std::ostream& o)
const;
111 if (robot_ != castother.robot_)
return false;
112 if (comc_ != castother.comc_)
return false;
113 if (joint_ != castother.joint_)
return false;
114 if (mask_ != castother.mask_)
return false;
115 if (nominalCase_ != castother.nominalCase_)
return false;
125 std::vector<bool> mask_;
135 #endif // HPP_CONSTRAINTS_RELATIVE_COM_HH
Definition: active-set-differentiable-function.hh:36
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:108
pinocchio::ComJacobian_t ComJacobian_t
Definition: fwd.hh:61
pinocchio::vector3_t vector3_t
Definition: fwd.hh:51
virtual bool isEqual(const DifferentiableFunction &other) const
Definition: differentiable-function.hh:190
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:105
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:49
Definition: differentiable-function.hh:63
virtual ~RelativeCom()
Definition: relative-com.hh:90
Definition: relative-com.hh:67
shared_ptr< RelativeCom > RelativeComPtr_t
Definition: fwd.hh:120
#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
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW RelativeComPtr_t create(const DevicePtr_t &robot, const JointPtr_t &joint, const vector3_t reference, std::vector< bool > mask=std::vector< bool >(3, true))
Return a shared pointer to a new instance.
Definition: relative-com.hh:71
bool isEqual(const DifferentiableFunction &other) const
Definition: relative-com.hh:107
pinocchio::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t
Definition: fwd.hh:110