17 #ifndef HPP_CONSTRAINTS_STATIC_STABILITY_HH 18 # define HPP_CONSTRAINTS_STATIC_STABILITY_HH 30 namespace constraints {
38 static const Eigen::Matrix <value_type, 6, 1>
Gravity;
51 const Contacts_t& contacts,
55 const std::string& name,
57 const Contacts_t& contacts,
62 const Contacts_t& contacts,
97 mutable matrix_t uDot_, uMinusDot_, vDot_;
104 #endif // HPP_CONSTRAINTS_STATIC_STABILITY_HH Definition: static-stability.hh:34
pinocchio::vector_t vector_t
Definition: fwd.hh:45
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:46
std::vector< Contact_t > Contacts_t
Definition: static-stability.hh:45
Definition: active-set-differentiable-function.hh:24
MatrixOfExpressions & phi()
Definition: static-stability.hh:65
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:91
Matrix having Expression elements.
Definition: symbolic-calculus.hh:921
Eigen::Ref< const matrix_t > matrixIn_t
Definition: fwd.hh:43
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
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:47
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:52
boost::shared_ptr< StaticStability > StaticStabilityPtr_t
Definition: fwd.hh:112
pinocchio::size_type size_type
Definition: fwd.hh:35
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:44
static const Eigen::Matrix< value_type, 6, 1 > Gravity
Definition: static-stability.hh:38
static const value_type G
Definition: static-stability.hh:37
pinocchio::value_type value_type
Definition: fwd.hh:36
pinocchio::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t
Definition: fwd.hh:93