hpp-constraints
4.10.1
Definition of basic geometric constraints for motion planning
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17 #ifndef HPP_CONSTRAINTS_EXPLICIT_CONSTRAINT_SET_HH
18 #define HPP_CONSTRAINTS_EXPLICIT_CONSTRAINT_SET_HH
22 #include <boost/function.hpp>
31 namespace constraints {
139 bool& constraintFound)
const;
160 bool contains (
const ExplicitPtr_t& numericalConstraint)
const;
166 : configSpace_ (space)
167 , inArgs_ (), notOutArgs_ ()
168 , inDers_ (), notOutDers_ ()
169 , outArgs_ (), outDers_ ()
170 , argFunction_ (
Eigen::VectorXi::Constant(space->nq (), -1))
171 , derFunction_ (
Eigen::VectorXi::Constant(space->nv (), -1))
175 , arg_ (space->nq ()), diff_(space->nv ()), diffSmall_()
177 notOutArgs_.addRow(0, space->nq ());
178 notOutDers_.addCol(0, space->nv ());
189 squaredErrorThreshold_ = threshold * threshold;
194 return sqrt (squaredErrorThreshold_);
199 return squaredErrorThreshold_;
248 return inOutDependencies_;
252 Eigen::MatrixXi inOutDofDependencies ()
const;
284 std::size_t
nq ()
const
286 return configSpace_->nq ();
290 std::size_t
nv ()
const
292 return configSpace_->nv ();
312 outDers_.nbIndices() , outDers_.indices(),
313 notOutDers_.nbIndices(), notOutDers_.indices());
378 bool rightHandSideFromInput (
const ExplicitPtr_t& constraint,
441 std::ostream& print (std::ostream& os)
const;
444 typedef std::vector<bool> Computed_t;
450 void solveExplicitConstraint(
const std::size_t& i,
vectorOut_t arg)
466 void computeJacobian(
const std::size_t& i,
matrixOut_t J)
const;
467 void computeOrder(
const std::size_t& iF, std::size_t& iOrder, Computed_t& computed);
490 Eigen::MatrixXi inOutDependencies_;
492 std::vector<Data> data_;
493 std::vector<std::size_t> computationOrder_;
499 Eigen::VectorXi argFunction_, derFunction_;
503 mutable vector_t arg_, diff_, diffSmall_;
506 ExplicitConstraintSet()
507 : inArgs_ (), notOutArgs_ ()
508 , inDers_ (), notOutDers_ ()
509 , outArgs_ (), outDers_ ()
516 configSpace_ = space;
517 argFunction_ = Eigen::VectorXi::Constant(space->nq (), -1);
518 derFunction_ = Eigen::VectorXi::Constant(space->nv (), -1);
519 arg_.resize(space->nq ());
520 diff_.resize(space->nv ());
522 notOutArgs_.addRow(0, space->nq ());
523 notOutDers_.addCol(0, space->nv ());
532 #endif // HPP_CONSTRAINTS_EXPLICIT_CONSTRAINT_SET_HH
const RowBlockIndices & outArgs() const
Definition: explicit-constraint-set.hh:263
pinocchio::vector_t vector_t
Definition: fwd.hh:47
value_type errorThreshold() const
Get error threshold.
Definition: explicit-constraint-set.hh:192
Eigen::MatrixBlockView< matrix_t, Eigen::Dynamic, Eigen::Dynamic, false, false > MatrixBlockView
Definition: explicit-constraint-set.hh:98
std::size_t nq() const
The number of variables.
Definition: explicit-constraint-set.hh:284
Definition: explicit-constraint-set.hh:93
const ColBlockIndices & notOutDers() const
Definition: explicit-constraint-set.hh:230
void errorThreshold(const value_type &threshold)
Set error threshold.
Definition: explicit-constraint-set.hh:187
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:57
LiegroupSpacePtr_t configSpace() const
The Lie group on which constraints are defined.
Definition: explicit-constraint-set.hh:278
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:53
MatrixBlockView jacobianNotOutToOut(matrix_t &jacobian) const
Definition: explicit-constraint-set.hh:309
ExplicitConstraintSet(const LiegroupSpacePtr_t &space)
Definition: explicit-constraint-set.hh:165
pinocchio::matrix_t matrix_t
Definition: fwd.hh:44
Definition: matrix-view.hh:111
const Eigen::MatrixXi & inOutDependencies() const
Definition: explicit-constraint-set.hh:246
Eigen::ColBlockIndices ColBlockIndices
Definition: explicit-constraint-set.hh:97
const Eigen::VectorXi & derFunction() const
Definition: explicit-constraint-set.hh:254
std::size_t nv() const
The number of derivative variables.
Definition: explicit-constraint-set.hh:290
Eigen::NumTraits< value_type > NumTraits
Definition: by-substitution.hh:24
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:46
Definition: by-substitution.hh:62
Definition: active-set-differentiable-function.hh:24
boost::shared_ptr< Explicit > ExplicitPtr_t
Definition: fwd.hh:179
pinocchio::size_type size_type
Definition: fwd.hh:36
value_type squaredErrorThreshold() const
Get error threshold.
Definition: explicit-constraint-set.hh:197
const RowBlockIndices & outDers() const
Definition: explicit-constraint-set.hh:272
size_type errorSize() const
Definition: explicit-constraint-set.hh:118
pinocchio::value_type value_type
Definition: fwd.hh:37
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:49
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:48
Eigen::RowBlockIndices RowBlockIndices
Definition: explicit-constraint-set.hh:96
const RowBlockIndices & notOutArgs() const
Definition: explicit-constraint-set.hh:222
boost::shared_ptr< Implicit > ImplicitPtr_t
Definition: fwd.hh:163
const RowBlockIndices & inArgs() const
Set of input configuration variables.
Definition: explicit-constraint-set.hh:208
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
const ColBlockIndices & inDers() const
Set of input velocity variables.
Definition: explicit-constraint-set.hh:214