hpp-constraints
4.13.0
Definition of basic geometric constraints for motion planning
|
Go to the documentation of this file.
29 #ifndef HPP_CONSTRAINTS_IMPLICIT_HH
30 #define HPP_CONSTRAINTS_IMPLICIT_HH
36 #include <hpp/pinocchio/liegroup-element.hh>
37 #include <hpp/util/serialization-fwd.hh>
40 namespace constraints {
134 std::vector<bool> mask = std::vector<bool>());
245 return equalityIndices_;
251 void setInactiveRowsToZero(
vectorOut_t error)
const;
270 std::vector<bool> mask);
278 virtual bool isEqual(
const Implicit& other,
bool swapAndTest)
const;
281 void init(
const ImplicitWkPtr_t& weak) { weak_ = weak; }
286 void computeIndices();
287 void computeActiveRows();
293 std::vector<bool> mask_;
296 std::vector<std::size_t> inequalityIndices_;
298 ImplicitWkPtr_t weak_;
313 #endif // HPP_CONSTRAINTS_IMPLICIT_HH
DifferentiableFunctionSet DifferentiableFunctionStack HPP_CONSTRAINTS_DEPRECATED
Definition: fwd.hh:114
Definition: differentiable-function.hh:63
pinocchio::vector_t vector_t
Definition: fwd.hh:58
const DifferentiableFunctionPtr_t & functionPtr() const
Return a reference to function .
Definition: implicit.hh:257
void init(const ImplicitWkPtr_t &weak)
Definition: implicit.hh:281
const Eigen::RowBlockIndices & equalityIndices() const
Get indices of constraint coordinates that are equality.
Definition: implicit.hh:244
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:64
bool operator==(const ComparisonTypes_t &v, const internal::ReplicateCompType &r)
Definition: comparison-types.hh:117
virtual ~Implicit()
Definition: implicit.hh:139
Definition: implicit-constraint-set.hh:45
pinocchio::LiegroupElementConstRef LiegroupElementConstRef
Definition: fwd.hh:66
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:105
std::vector< ComparisonType > ComparisonTypes_t
Definition: fwd.hh:180
Definition: implicit.hh:124
Definition: active-set-differentiable-function.hh:36
pinocchio::size_type size_type
Definition: fwd.hh:47
Implicit()
Definition: implicit.hh:304
shared_ptr< Implicit > ImplicitPtr_t
Definition: fwd.hh:173
pinocchio::value_type value_type
Definition: fwd.hh:48
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:60
const segments_t & activeRows() const
Definition: implicit.hh:241
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:59
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
Definition: fwd.hh:111
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:65
std::vector< segment_t > segments_t
Definition: fwd.hh:83