29 #ifndef HPP_CONSTRAINTS_MANIPULABILITY_HH 30 #define HPP_CONSTRAINTS_MANIPULABILITY_HH 38 namespace constraints {
72 if (function_ != castother.function_)
return false;
73 if (robot_ != castother.robot_)
return false;
74 if (cols_.cols() != castother.cols_.
cols())
return false;
75 if (J_ != castother.J_)
return false;
76 if (J_JT_ != castother.J_JT_)
return false;
93 #endif // HPP_CONSTRAINTS_MANIPULABILITY_HH pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:59
bool isEqual(const DifferentiableFunction &other) const
Definition: manipulability.hh:67
shared_ptr< Manipulability > ManipulabilityPtr_t
Definition: manipulability.hh:40
static ManipulabilityPtr_t create(DifferentiableFunctionPtr_t function, DevicePtr_t robot, std::string name)
Definition: manipulability.hh:50
Definition: active-set-differentiable-function.hh:36
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:108
HPP_PREDEF_CLASS(DifferentiableFunction)
pinocchio::matrix_t matrix_t
Definition: fwd.hh:55
virtual bool isEqual(const DifferentiableFunction &other) const
Definition: differentiable-function.hh:190
Differentiable function.
Definition: manipulability.hh:46
Definition: differentiable-function.hh:63
shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
Definition: fwd.hh:111
const ColIndices_t & cols() const
Definition: matrix-view.hh:677
virtual ~Manipulability()
Definition: manipulability.hh:48
#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