hpp-constraints
4.12.0
Definition of basic geometric constraints for motion planning
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17 #ifndef HPP_CONSTRAINTS_EXPLICIT_IMPLICIT_FUNCTION_HH
18 # define HPP_CONSTRAINTS_EXPLICIT_IMPLICIT_FUNCTION_HH
24 namespace constraints {
40 typedef shared_ptr <ImplicitFunction>
Ptr_t;
83 void computeJacobianBlocks ();
91 std::vector <Eigen::MatrixBlocks <false, false> > outJacobian_;
92 std::vector <Eigen::MatrixBlocks <false, false> > inJacobian_;
109 #endif // HPP_CONSTRAINTS_EXPLICIT_IMPLICIT_FUNCTION_HH
const DifferentiableFunctionPtr_t & inputToOutput() const
Get function f that maps input variables to output variables.
Definition: differentiable-function.hh:52
pinocchio::vector_t vector_t
Definition: fwd.hh:47
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:97
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:57
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:53
void jacobian(matrixOut_t jacobian, vectorIn_t argument) const
Definition: differentiable-function.hh:80
static Ptr_t create(const LiegroupSpacePtr_t &configSpace, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity)
pinocchio::matrix_t matrix_t
Definition: fwd.hh:44
std::vector< segment_t > segments_t
Definition: fwd.hh:72
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:46
Definition: active-set-differentiable-function.hh:24
Definition: implicit-function.hh:37
shared_ptr< ImplicitFunction > Ptr_t
Definition: implicit-function.hh:40
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:48
void impl_compute(LiegroupElementRef result, vectorIn_t argument) const
Compute g (q_out) - f (q_in)
shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
Definition: fwd.hh:101
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:54
void impl_jacobian(matrixOut_t jacobian, vectorIn_t arg) const
Compute Jacobian of g (q_out) - f (q_in) with respect to q.