hpp-constraints
4.12.0
Definition of basic geometric constraints for motion planning
|
Go to the documentation of this file.
20 #ifndef HPP_CONSTRAINTS_FWD_HH
21 # define HPP_CONSTRAINTS_FWD_HH
24 # include <hpp/pinocchio/fwd.hh>
32 namespace constraints {
100 typedef shared_ptr <DifferentiableFunction>
102 typedef shared_ptr <DifferentiableFunctionSet>
106 typedef shared_ptr <ActiveSetDifferentiableFunction>
108 typedef shared_ptr <DistanceBetweenBodies>
110 typedef shared_ptr <DistanceBetweenPointsInBodies>
119 typedef shared_ptr<ConvexShapeContact>
121 typedef shared_ptr<ConvexShapeContactComplement>
123 typedef shared_ptr<ConvexShapeContactHold>
127 typedef shared_ptr<ConfigurationConstraint>
136 const int RelativeBit = 0x1;
137 const int PositionBit = 0x2;
138 const int OrientationBit = 0x4;
139 const int OutputR3xSO3Bit = 0x8;
157 typedef shared_ptr<RelativeTransformation>
167 typedef shared_ptr <ImplicitConstraintSet>
188 namespace explicit_ {
193 typedef shared_ptr <RelativeTransformation>
213 #endif // HPP_CONSTRAINTS_FWD_HH
std::pair< size_type, size_type > segment_t
Definition: fwd.hh:71
shared_ptr< Orientation > OrientationPtr_t
Definition: fwd.hh:153
pinocchio::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t
Definition: fwd.hh:99
Definition: distance-between-points-in-bodies.hh:36
shared_ptr< ConfigurationConstraint > ConfigurationConstraintPtr_t
Definition: fwd.hh:128
@ Superior
Definition: fwd.hh:173
shared_ptr< AffineFunction > AffineFunctionPtr_t
Definition: fwd.hh:130
pinocchio::Device Device
Definition: fwd.hh:96
DifferentiableFunctionSet DifferentiableFunctionStack HPP_CONSTRAINTS_DEPRECATED
Definition: fwd.hh:105
Definition: affine-function.hh:68
pinocchio::vector_t vector_t
Definition: fwd.hh:47
shared_ptr< const LockedJoint > LockedJointConstPtr_t
Definition: fwd.hh:203
shared_ptr< ComBetweenFeet > ComBetweenFeetPtr_t
Definition: fwd.hh:113
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:97
GenericTransformation< PositionBit > Position
Definition: fwd.hh:142
shared_ptr< QPStaticStability > QPStaticStabilityPtr_t
Definition: fwd.hh:126
Eigen::BlockIndex BlockIndex
Definition: fwd.hh:160
shared_ptr< ActiveSetDifferentiableFunction > ActiveSetDifferentiableFunctionPtr_t
Definition: fwd.hh:107
Definition: explicit-constraint-set.hh:91
shared_ptr< RelativeOrientation > RelativeOrientationPtr_t
Definition: fwd.hh:156
Eigen::Ref< const matrix_t > matrixIn_t
Definition: fwd.hh:45
shared_ptr< LockedJoint > LockedJointPtr_t
Definition: fwd.hh:202
shared_ptr< StaticStability > StaticStabilityPtr_t
Definition: fwd.hh:125
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:57
Definition: locked-joint.hh:56
pinocchio::matrix3_t matrix3_t
Definition: fwd.hh:41
GenericTransformation< OrientationBit > Orientation
Definition: fwd.hh:143
GenericTransformation< RelativeBit|PositionBit|OrientationBit > RelativeTransformation
Definition: fwd.hh:144
Definition: qp-static-stability.hh:33
shared_ptr< ConstantFunction > ConstantFunctionPtr_t
Definition: fwd.hh:131
shared_ptr< RelativeTransformation > RelativeTransformationPtr_t
Definition: fwd.hh:158
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:53
shared_ptr< Position > PositionPtr_t
Definition: fwd.hh:152
pinocchio::ComJacobian_t ComJacobian_t
Definition: fwd.hh:50
Eigen::Matrix< value_type, 5, 1 > vector5_t
Definition: fwd.hh:63
HPP_PREDEF_CLASS(DifferentiableFunction)
shared_ptr< ConvexShapeContactComplement > ConvexShapeContactComplementPtr_t
Definition: fwd.hh:122
pinocchio::JointConstPtr_t JointConstPtr_t
Definition: fwd.hh:39
shared_ptr< RelativePose > RelativePosePtr_t
Definition: fwd.hh:191
Definition: static-stability.hh:34
pinocchio::ObjectVector_t ObjectVector_t
Definition: fwd.hh:90
std::vector< LockedJointPtr_t > LockedJoints_t
Definition: fwd.hh:204
GenericTransformation< PositionBit|OrientationBit|OutputR3xSO3Bit > TransformationR3xSO3
Definition: fwd.hh:147
pinocchio::matrix_t matrix_t
Definition: fwd.hh:44
shared_ptr< const Explicit > ExplicitConstPtr_t
Definition: fwd.hh:180
Square distance between input configuration and reference configuration.
Definition: configuration-constraint.hh:32
pinocchio::vector3_t vector3_t
Definition: fwd.hh:40
Definition: implicit-constraint-set.hh:34
Eigen::Matrix< value_type, 8, 1 > vector8_t
Definition: fwd.hh:43
shared_ptr< ConvexShapeContact > ConvexShapeContactPtr_t
Definition: fwd.hh:198
std::vector< segment_t > segments_t
Definition: fwd.hh:72
pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t
Definition: fwd.hh:91
GenericTransformation< RelativeBit|PositionBit > RelativePosition
Definition: fwd.hh:145
ArrayXb bool_array_t
Definition: fwd.hh:69
pinocchio::LiegroupSpace LiegroupSpace
Definition: fwd.hh:56
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:93
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:92
@ Equality
Definition: fwd.hh:171
shared_ptr< ConvexShapeContact > ConvexShapeContactPtr_t
Definition: fwd.hh:120
shared_ptr< ImplicitFunction > ImplicitFunctionPtr_t
Definition: fwd.hh:196
shared_ptr< const Implicit > ImplicitConstPtr_t
Definition: fwd.hh:164
pinocchio::LiegroupElementConstRef LiegroupElementConstRef
Definition: fwd.hh:55
Definition: affine-function.hh:35
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:94
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:46
std::vector< ComparisonType > ComparisonTypes_t
Definition: fwd.hh:176
Eigen::Matrix< value_type, 6, 1 > vector6_t
Definition: fwd.hh:64
HPP_PREDEF_CLASS(RelativePose)
shared_ptr< OfParameterSubset > OfParameterSubsetPtr_t
Definition: fwd.hh:208
Definition: implicit.hh:114
Definition: by-substitution.hh:62
shared_ptr< Identity > IdentityPtr_t
Definition: fwd.hh:129
Definition: active-set-differentiable-function.hh:24
shared_ptr< DistanceBetweenBodies > DistanceBetweenBodiesPtr_t
Definition: fwd.hh:109
Definition: implicit-function.hh:37
std::vector< ConvexShape > ConvexShapes_t
Definition: fwd.hh:80
Definition: affine-function.hh:133
GenericTransformation< OrientationBit|OutputR3xSO3Bit > OrientationSO3
Definition: fwd.hh:149
pinocchio::ArrayXb ArrayXb
Definition: fwd.hh:68
@ EqualToZero
Definition: fwd.hh:172
pinocchio::size_type size_type
Definition: fwd.hh:36
pinocchio::LiegroupSpaceConstPtr_t LiegroupSpaceConstPtr_t
Definition: fwd.hh:58
Definition: hierarchical-iterative.hh:218
@ Inferior
Definition: fwd.hh:174
GenericTransformation< RelativeBit|OrientationBit > RelativeOrientation
Definition: fwd.hh:146
std::vector< vector3_t > Shape_t
Definition: fwd.hh:116
shared_ptr< DistanceBetweenPointsInBodies > DistanceBetweenPointsInBodiesPtr_t
Definition: fwd.hh:111
shared_ptr< Implicit > ImplicitPtr_t
Definition: fwd.hh:163
pinocchio::value_type value_type
Definition: fwd.hh:37
GenericTransformation< RelativeBit|PositionBit|OrientationBit|OutputR3xSO3Bit > RelativeTransformationR3xSO3
Definition: fwd.hh:148
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:49
shared_ptr< Explicit > ExplicitPtr_t
Definition: fwd.hh:179
Eigen::Matrix< value_type, 7, 1 > vector7_t
Definition: fwd.hh:65
std::vector< constraints::ImplicitPtr_t > NumericalConstraints_t
Definition: fwd.hh:165
pinocchio::Transform3f Transform3f
Definition: fwd.hh:52
Eigen::Matrix< value_type, 3, 3 > matrix3_t
Definition: fwd.hh:60
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:38
ComparisonType
Definition: fwd.hh:170
shared_ptr< RelativeCom > RelativeComPtr_t
Definition: fwd.hh:112
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:95
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:48
shared_ptr< ImplicitConstraintSet > ImplicitConstraintSetPtr_t
Definition: fwd.hh:168
Definition: relative-com.hh:56
Eigen::Quaternion< value_type > Quaternion_t
Definition: fwd.hh:66
Definition: differentiable-function-set.hh:33
Definition: explicit.hh:118
shared_ptr< ConvexShapeContactHold > ConvexShapeContactHoldPtr_t
Definition: fwd.hh:124
shared_ptr< Transformation > TransformationPtr_t
Definition: fwd.hh:154
shared_ptr< RelativePosition > RelativePositionPtr_t
Definition: fwd.hh:155
std::list< JointAndShape_t > JointAndShapes_t
Definition: fwd.hh:118
GenericTransformation< RelativeBit|OrientationBit|OutputR3xSO3Bit > RelativeOrientationSO3
Definition: fwd.hh:150
shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
Definition: fwd.hh:101
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:54
Definition: distance-between-bodies.hh:40
pinocchio::CenterOfMassComputation CenterOfMassComputation
Definition: fwd.hh:98
pinocchio::JointJacobian_t JointJacobian_t
Definition: fwd.hh:51
Definition: com-between-feet.hh:56
Eigen::Matrix< value_type, 3, 1 > vector3_t
Definition: fwd.hh:61
Eigen::Matrix< value_type, 6, 6 > matrix6_t
Definition: fwd.hh:42
std::pair< JointPtr_t, Shape_t > JointAndShape_t
Definition: fwd.hh:117
HPP_PREDEF_CLASS(OfParameterSubset)
shared_ptr< DifferentiableFunctionSet > DifferentiableFunctionSetPtr_t
Definition: fwd.hh:103
DEVEL typedef GenericTransformation< PositionBit|OrientationBit > Transformation
Definition: fwd.hh:133
shared_ptr< RelativeTransformation > RelativeTransformationPtr_t
Definition: fwd.hh:194
Definition: convex-shape.hh:64
Definition: matrix-view.hh:37