17 #ifndef HPP_CONSTRAINTS_CONVEX_SHAPE_CONTACT_HH 18 # define HPP_CONSTRAINTS_CONVEX_SHAPE_CONTACT_HH 30 namespace constraints {
81 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
111 const std::string& name,
121 void addObjectTriangle (
const fcl::TriangleP& t,
130 void addFloorTriangle (
const fcl::TriangleP& t,
146 void setNormalMargin (
const value_type& margin);
153 std::ostream& print (std::ostream& o)
const;
165 typedef std::vector <ConvexShape> ConvexShapes_t;
167 bool selectConvexShapes (
const pinocchio::DeviceData& data,
168 ConvexShapes_t::const_iterator&
object,
169 ConvexShapes_t::const_iterator& floor)
const;
174 mutable GenericTransformationModel<true> relativeTransformationModel_;
176 ConvexShapes_t objectConvexShapes_;
177 ConvexShapes_t floorConvexShapes_;
207 createPair (
const std::string& name,
const std::string& complementName,
216 const std::string& complementName,
226 ConvexShapeContactPtr_t sibling_;
232 #endif // HPP_CONSTRAINTS_CONVEX_SHAPE_CONTACT_HH
Definition: active-set-differentiable-function.hh:24
boost::shared_ptr< ConvexShapeContactComplement > ConvexShapeContactComplementPtr_t
Definition: fwd.hh:111
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:91
pinocchio::matrix_t matrix_t
Definition: fwd.hh:42
pinocchio::vector3_t vector3_t
Definition: fwd.hh:39
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:88
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:37
Definition: differentiable-function.hh:50
Eigen::Matrix< value_type, 6, 1 > vector6_t
Definition: fwd.hh:61
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:52
boost::shared_ptr< ConvexShapeContact > ConvexShapeContactPtr_t
Definition: fwd.hh:109
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:44
Definition: convex-shape.hh:64
pinocchio::value_type value_type
Definition: fwd.hh:36
DifferentiableFunctionSet DifferentiableFunctionStack HPP_CONSTRAINTS_DEPRECATED
Definition: fwd.hh:99