hpp-constraints
4.12.0
Definition of basic geometric constraints for motion planning
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17 #ifndef HPP_CONSTRAINTS_EXPLICIT_HH
18 # define HPP_CONSTRAINTS_EXPLICIT_HH
23 namespace constraints {
149 std::vector<bool> mask = std::vector<bool>());
158 return inputToOutput_;
169 return outputVelocity_;
179 return inputVelocity_;
231 std::vector<bool> mask);
247 std::vector<bool> mask);
253 void init (
const ExplicitWkPtr_t& weak);
264 ExplicitWkPtr_t weak_;
274 #endif // HPP_CONSTRAINTS_EXPLICIT_HH
const segments_t & outputVelocity() const
Get output degrees of freedom.
Definition: explicit.hh:167
segments_t outputConf_
Definition: explicit.hh:258
segments_t inputConf_
Definition: explicit.hh:257
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:57
const segments_t & outputConf() const
Get output configuration variables.
Definition: explicit.hh:162
std::vector< segment_t > segments_t
Definition: fwd.hh:72
const segments_t & inputConf() const
Get input configuration variables.
Definition: explicit.hh:172
segments_t inputVelocity_
Definition: explicit.hh:259
pinocchio::LiegroupElementConstRef LiegroupElementConstRef
Definition: fwd.hh:55
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:46
std::vector< ComparisonType > ComparisonTypes_t
Definition: fwd.hh:176
Definition: implicit.hh:114
Definition: active-set-differentiable-function.hh:24
segments_t outputVelocity_
Definition: explicit.hh:260
Explicit()
Definition: explicit.hh:262
shared_ptr< Implicit > ImplicitPtr_t
Definition: fwd.hh:163
shared_ptr< Explicit > ExplicitPtr_t
Definition: fwd.hh:179
DifferentiableFunctionPtr_t explicitFunction() const
Definition: explicit.hh:156
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:48
Definition: explicit.hh:118
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
Definition: fwd.hh:101
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:54
const segments_t & inputVelocity() const
Get input degrees of freedom.
Definition: explicit.hh:177
DifferentiableFunctionPtr_t inputToOutput_
Definition: explicit.hh:256