hpp-constraints
4.12.0
Definition of basic geometric constraints for motion planning
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17 #ifndef HPP_CONSTRAINTS_EXPLICIT_RELATIVE_POSE_HH
18 # define HPP_CONSTRAINTS_EXPLICIT_RELATIVE_POSE_HH
21 # include <pinocchio/spatial/se3.hpp>
24 namespace constraints {
106 std::vector<bool> mask = std::vector<bool>(6,
true));
112 void init (RelativePoseWkPtr_t weak);
155 void explicitToImplicitRhs (
vectorIn_t explicitRhs,
163 RelativePoseWkPtr_t weak_;
174 #endif //HPP_CONSTRAINTS_EXPLICIT_RELATIVE_POSE_HH
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:97
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:57
Constraint of relative pose between two frames on a kinematic chain.
Definition: relative-pose.hh:27
pinocchio::JointConstPtr_t JointConstPtr_t
Definition: fwd.hh:39
shared_ptr< RelativePose > RelativePosePtr_t
Definition: fwd.hh:191
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: active-set-differentiable-function.hh:24
shared_ptr< Implicit > ImplicitPtr_t
Definition: fwd.hh:163
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:49
pinocchio::Transform3f Transform3f
Definition: fwd.hh:52
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:48
Definition: explicit.hh:118
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:54