hpp-constraints
4.12.0
Definition of basic geometric constraints for motion planning
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20 #ifndef HPP_CONSTRAINTS_CONFIGURATION_CONSTRAINT_HH
21 # define HPP_CONSTRAINTS_CONFIGURATION_CONSTRAINT_HH
23 # include <Eigen/Core>
29 namespace constraints {
35 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
41 std::vector <bool> mask = std::vector <bool> (0));
74 std::ostream& print (std::ostream& o)
const;
76 typedef Eigen::Array <bool, Eigen::Dynamic, 1> EigenBoolVector_t;
83 #endif // HPP_CONSTRAINTS_CONFIGURATION_CONSTRAINT_HH
shared_ptr< ConfigurationConstraint > ConfigurationConstraintPtr_t
Definition: fwd.hh:128
Definition: differentiable-function.hh:52
pinocchio::vector_t vector_t
Definition: fwd.hh:47
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:97
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:53
const vector_t & weights() const
Definition: configuration-constraint.hh:57
Square distance between input configuration and reference configuration.
Definition: configuration-constraint.hh:32
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:94
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:46
Definition: active-set-differentiable-function.hh:24
const LiegroupElement & goal() const
Definition: configuration-constraint.hh:61
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:54
virtual ~ConfigurationConstraint()
Definition: configuration-constraint.hh:50