hpp-constraints
4.13.0
Definition of basic geometric constraints for motion planning
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29 #ifndef HPP_CONSTRAINTS_MANIPULABILITY_HH
30 #define HPP_CONSTRAINTS_MANIPULABILITY_HH
38 namespace constraints {
72 if (function_ != castother.function_)
return false;
73 if (robot_ != castother.robot_)
return false;
74 if (cols_.cols() != castother.cols_.
cols())
return false;
75 if (J_ != castother.J_)
return false;
76 if (J_JT_ != castother.J_JT_)
return false;
93 #endif // HPP_CONSTRAINTS_MANIPULABILITY_HH
static ManipulabilityPtr_t create(DifferentiableFunctionPtr_t function, DevicePtr_t robot, std::string name)
Definition: manipulability.hh:50
shared_ptr< Manipulability > ManipulabilityPtr_t
Definition: manipulability.hh:40
Definition: differentiable-function.hh:63
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:108
HPP_PREDEF_CLASS(DifferentiableFunction)
pinocchio::matrix_t matrix_t
Definition: fwd.hh:55
virtual ~Manipulability()
Definition: manipulability.hh:48
Differentiable function.
Definition: manipulability.hh:46
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:57
Definition: active-set-differentiable-function.hh:36
virtual bool isEqual(const DifferentiableFunction &other) const
Definition: differentiable-function.hh:190
bool isEqual(const DifferentiableFunction &other) const
Definition: manipulability.hh:67
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:59
const ColIndices_t & cols() const
Definition: matrix-view.hh:677
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
Definition: fwd.hh:111
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:65