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static LockedJointPtr_t | create (const JointPtr_t &joint, const LiegroupElement &value) |
| Create locked joint and return shared pointer. More...
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static LockedJointPtr_t | create (const JointPtr_t &joint, const size_type index, vectorIn_t value) |
| Create partial locked joint (only some degrees of freedom) More...
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static LockedJointPtr_t | create (const DevicePtr_t &dev, const size_type index, vectorIn_t value) |
| Create locked degrees of freedom of extra config space. More...
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static LockedJointPtr_t | createCopy (LockedJointConstPtr_t other) |
| Return shared pointer to copy. More...
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static ExplicitNumericalConstraintPtr_t | create (const DevicePtr_t &robot, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &inputVelocity, const segments_t &outputConf, const segments_t &outputVelocity, const ComparisonTypes_t &comp=ComparisonTypes_t()) |
| Create instance and return shared pointer. More...
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static ExplicitNumericalConstraintPtr_t | create (const DevicePtr_t &robot, const DifferentiableFunctionPtr_t &function, const DifferentiableFunctionPtr_t &g, const DifferentiableFunctionPtr_t &ginv, const segments_t &inputConf, const segments_t &inputVelocity, const segments_t &outputConf, const segments_t &outputVelocity, const ComparisonTypes_t &comp=ComparisonTypes_t()) |
| Create instance and return shared pointer. More...
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static ExplicitNumericalConstraintPtr_t | createCopy (const ExplicitNumericalConstraintPtr_t &other) |
| Create a copy and return shared pointer. More...
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static NumericalConstraintPtr_t | create (const DifferentiableFunctionPtr_t &function) |
| Create a shared pointer to a new instance. More...
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static NumericalConstraintPtr_t | create (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp) |
| Create a shared pointer to a new instance. More...
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static NumericalConstraintPtr_t | create (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp, vectorIn_t rhs) |
| Create a shared pointer to a new instance. More...
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static NumericalConstraintPtr_t | createCopy (const NumericalConstraintPtr_t &other) |
| Create a copy and return shared pointer. More...
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| LockedJoint (const JointPtr_t &joint, const LiegroupElement &value) |
| Constructor. More...
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| LockedJoint (const JointPtr_t &joint, const size_type index, vectorIn_t value) |
| Constructor of partial locked joint. More...
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| LockedJoint (const DevicePtr_t &robot, const size_type index, vectorIn_t value) |
| Constructor of locked degrees of freedom of extra config space. More...
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| LockedJoint (const LockedJoint &other) |
| Copy constructor. More...
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virtual bool | isEqual (const Equation &other, bool swapAndTest) const |
| Test equality with other instance. More...
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void | init (const LockedJointPtr_t &self) |
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| ExplicitNumericalConstraint (const DevicePtr_t &robot, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &inputVelocity, const segments_t &outputConf, const segments_t &outputVelocity, const ComparisonTypes_t &comp) |
| Constructor. More...
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| ExplicitNumericalConstraint (const DevicePtr_t &robot, const DifferentiableFunctionPtr_t &function, const DifferentiableFunctionPtr_t &g, const DifferentiableFunctionPtr_t &ginv, const segments_t &inputConf, const segments_t &inputVelocity, const segments_t &outputConf, const segments_t &outputVelocity, const ComparisonTypes_t &comp) |
| Constructor. More...
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| ExplicitNumericalConstraint (const ExplicitNumericalConstraint &other) |
| Constructor. More...
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void | init (const ExplicitNumericalConstraintWkPtr_t &weak) |
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| NumericalConstraint (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp) |
| Constructor. More...
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| NumericalConstraint (const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp, vectorIn_t rhs) |
| Constructor. More...
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| NumericalConstraint (const NumericalConstraint &other) |
| Copy constructor. More...
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void | init (const NumericalConstraintWkPtr_t &weak) |
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| Equation (const ComparisonTypes_t &comp, vectorIn_t rhs) |
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| Equation (const Equation &other) |
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void | init (const EquationWkPtr_t &weak) |
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Implementation of Equation specific to locked joint.
The underlying equation is \( q_i (q) = rhs \). The right hand side of the equation is also called value.