29 #ifndef HPP_CONSTRAINTS_FUNCTION_DIFFERENCE_HH 30 #define HPP_CONSTRAINTS_FUNCTION_DIFFERENCE_HH 37 namespace constraints {
48 typedef shared_ptr<Difference>
Ptr_t;
56 inner_->value(l_, arg.segment(lsa_.first, lsa_.second));
57 inner_->value(r_, arg.segment(rsa_.first, rsa_.second));
62 inner_->jacobian(J.middleCols(lsd_.first, lsd_.second),
63 arg.segment(lsa_.first, lsa_.second));
64 inner_->jacobian(J.middleCols(rsd_.first, rsd_.second),
65 arg.segment(rsa_.first, rsa_.second));
66 J.middleCols(rsd_.first, rsd_.second) *= -1;
73 if (inner_ != castother.
inner_)
return false;
74 if (lsa_ != castother.
lsa_)
return false;
75 if (lsd_ != castother.
lsd_)
return false;
76 if (rsa_ != castother.
rsa_)
return false;
77 if (rsd_ != castother.
rsd_)
return false;
82 std::ostream& print(std::ostream& os)
const;
94 #endif // HPP_CONSTRAINTS_FUNCTION_DIFFERENCE_HH pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:60
#define HPP_CONSTRAINTS_LOCAL
Definition: config.hh:66
void impl_compute(LiegroupElementRef y, vectorIn_t arg) const
User implementation of function evaluation.
Definition: difference.hh:55
Definition: active-set-differentiable-function.hh:36
DifferentiableFunctionPtr_t inner_
Definition: difference.hh:84
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:65
bool isEqual(const DifferentiableFunction &other) const
Definition: difference.hh:69
std::pair< size_type, size_type > segment_t
Definition: fwd.hh:83
void impl_jacobian(matrixOut_t J, vectorIn_t arg) const
Definition: difference.hh:61
const segment_t lsa_
Definition: difference.hh:85
const segment_t rsd_
Definition: difference.hh:86
const segment_t rsa_
Definition: difference.hh:86
virtual bool isEqual(const DifferentiableFunction &other) const
Definition: differentiable-function.hh:206
Definition: difference.hh:45
const segment_t lsd_
Definition: difference.hh:85
Definition: differentiable-function.hh:63
LiegroupElement r_
Definition: difference.hh:88
shared_ptr< Difference > DifferencePtr_t
Definition: difference.hh:39
shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
Definition: fwd.hh:113
shared_ptr< Difference > Ptr_t
Definition: difference.hh:48
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:66
pinocchio::size_type size_type
Definition: fwd.hh:47
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:58