30 #ifndef HPP_CORE_RELATIVE_MOTION_HH 31 #define HPP_CORE_RELATIVE_MOTION_HH 35 #include <hpp/pinocchio/fwd.hh> 36 #include <hpp/pinocchio/joint.hh> 61 typedef Eigen::Matrix<RelativeMotionType, Eigen::Dynamic, Eigen::Dynamic>
109 return (joint ? joint->index() : 0);
121 #endif // HPP_CORE_RELATIVE_MOTION_HH pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:134
Definition: bi-rrt-planner.hh:35
static void fromConstraint(matrix_type &matrix, const DevicePtr_t &robot, const ConstraintSetPtr_t &constraint)
Definition: relative-motion.hh:115
pinocchio::size_type size_type
Definition: fwd.hh:173
pinocchio::JointConstPtr_t JointConstPtr_t
Definition: fwd.hh:150
static matrix_type matrix(const DevicePtr_t &robot)
static size_type idx(const JointConstPtr_t &joint)
Definition: relative-motion.hh:108
The relative motion is not constrained.
Definition: relative-motion.hh:49
Definition: relative-motion.hh:47
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:130
RelativeMotionType
Definition: relative-motion.hh:41
Definition: relative-motion.hh:44
Eigen::Matrix< RelativeMotionType, Eigen::Dynamic, Eigen::Dynamic > matrix_type
Definition: relative-motion.hh:62
static void recurseSetRelMotion(matrix_type &matrix, const size_type &i1, const size_type &i2, const RelativeMotionType &type)
Definition: relative-motion.hh:40