hpp-constraints  4.13.0
Definition of basic geometric constraints for motion planning
fwd.hh
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30 
31 #ifndef HPP_CONSTRAINTS_FWD_HH
32 #define HPP_CONSTRAINTS_FWD_HH
33 
35 #include <hpp/pinocchio/fwd.hh>
36 #include <list>
37 
38 namespace Eigen {
39 struct BlockIndex;
40 } // namespace Eigen
41 
42 namespace hpp {
43 namespace constraints {
44 HPP_PREDEF_CLASS(DifferentiableFunction);
45 HPP_PREDEF_CLASS(DifferentiableFunctionSet);
46 HPP_PREDEF_CLASS(ActiveSetDifferentiableFunction);
53 typedef Eigen::Matrix<value_type, 6, 6> matrix6_t;
54 typedef Eigen::Matrix<value_type, 8, 1> vector8_t;
56 typedef Eigen::Ref<const matrix_t> matrixIn_t;
57 typedef Eigen::Ref<matrix_t> matrixOut_t;
70 namespace eigen {
71 typedef Eigen::Matrix<value_type, 3, 3> matrix3_t;
72 typedef Eigen::Matrix<value_type, 3, 1> vector3_t;
73 } // namespace eigen
74 typedef Eigen::Matrix<value_type, 5, 1> vector5_t;
75 typedef Eigen::Matrix<value_type, 6, 1> vector6_t;
76 typedef Eigen::Matrix<value_type, 7, 1> vector7_t;
77 typedef Eigen::Quaternion<value_type> Quaternion_t;
78 
81 
82 typedef std::pair<size_type, size_type> segment_t;
83 typedef std::vector<segment_t> segments_t;
84 
92 typedef std::vector<ConvexShape> ConvexShapes_t;
100 
111 typedef shared_ptr<DifferentiableFunction> DifferentiableFunctionPtr_t;
112 typedef shared_ptr<DifferentiableFunctionSet> DifferentiableFunctionSetPtr_t;
113 typedef DifferentiableFunctionSet DifferentiableFunctionStack
115 typedef shared_ptr<ActiveSetDifferentiableFunction>
117 typedef shared_ptr<DistanceBetweenBodies> DistanceBetweenBodiesPtr_t;
118 typedef shared_ptr<DistanceBetweenPointsInBodies>
120 typedef shared_ptr<RelativeCom> RelativeComPtr_t;
121 typedef shared_ptr<ComBetweenFeet> ComBetweenFeetPtr_t;
124 typedef std::vector<vector3_t> Shape_t;
125 typedef std::pair<JointPtr_t, Shape_t> JointAndShape_t;
126 typedef std::list<JointAndShape_t> JointAndShapes_t;
127 typedef shared_ptr<ConvexShapeContact> ConvexShapeContactPtr_t;
128 typedef shared_ptr<ConvexShapeContactComplement>
130 typedef shared_ptr<ConvexShapeContactHold> ConvexShapeContactHoldPtr_t;
131 typedef shared_ptr<StaticStability> StaticStabilityPtr_t;
132 typedef shared_ptr<QPStaticStability> QPStaticStabilityPtr_t;
133 typedef shared_ptr<ConfigurationConstraint> ConfigurationConstraintPtr_t;
134 typedef shared_ptr<Identity> IdentityPtr_t;
135 typedef shared_ptr<AffineFunction> AffineFunctionPtr_t;
136 typedef shared_ptr<ConstantFunction> ConstantFunctionPtr_t;
137 
138 template <int _Options>
140 
142 const int RelativeBit = 0x1;
143 const int PositionBit = 0x2;
144 const int OrientationBit = 0x4;
145 const int OutputR3xSO3Bit = 0x8;
156 typedef GenericTransformation<RelativeBit | PositionBit | OrientationBit |
157  OutputR3xSO3Bit>
162 
163 typedef shared_ptr<Position> PositionPtr_t;
164 typedef shared_ptr<Orientation> OrientationPtr_t;
165 typedef shared_ptr<Transformation> TransformationPtr_t;
166 typedef shared_ptr<RelativePosition> RelativePositionPtr_t;
167 typedef shared_ptr<RelativeOrientation> RelativeOrientationPtr_t;
168 typedef shared_ptr<RelativeTransformation> RelativeTransformationPtr_t;
169 
171 
173 typedef shared_ptr<Implicit> ImplicitPtr_t;
174 typedef shared_ptr<const Implicit> ImplicitConstPtr_t;
175 typedef std::vector<constraints::ImplicitPtr_t> NumericalConstraints_t;
177 typedef shared_ptr<ImplicitConstraintSet> ImplicitConstraintSetPtr_t;
178 
180 typedef std::vector<ComparisonType> ComparisonTypes_t;
181 
183 typedef shared_ptr<Explicit> ExplicitPtr_t;
184 typedef shared_ptr<const Explicit> ExplicitConstPtr_t;
185 
187 namespace solver {
189 class BySubstitution;
190 } // namespace solver
191 
192 namespace explicit_ {
193 class Function;
194 HPP_PREDEF_CLASS(RelativePose);
195 typedef shared_ptr<RelativePose> RelativePosePtr_t;
197 typedef shared_ptr<RelativeTransformation> RelativeTransformationPtr_t;
199 typedef shared_ptr<ImplicitFunction> ImplicitFunctionPtr_t;
201 typedef shared_ptr<ConvexShapeContact> ConvexShapeContactPtr_t;
202 } // namespace explicit_
203 
205 typedef shared_ptr<LockedJoint> LockedJointPtr_t;
206 typedef shared_ptr<const LockedJoint> LockedJointConstPtr_t;
207 typedef std::vector<LockedJointPtr_t> LockedJoints_t;
208 
209 namespace function {
210 HPP_PREDEF_CLASS(OfParameterSubset);
211 typedef shared_ptr<OfParameterSubset> OfParameterSubsetPtr_t;
212 } // namespace function
213 } // namespace constraints
214 } // namespace hpp
215 
216 #endif // HPP_CONSTRAINTS_FWD_HH
hpp::constraints::ConvexShapeContact
Definition: convex-shape-contact.hh:93
hpp::constraints::segment_t
std::pair< size_type, size_type > segment_t
Definition: fwd.hh:82
hpp::constraints::OrientationPtr_t
shared_ptr< Orientation > OrientationPtr_t
Definition: fwd.hh:164
hpp::constraints::CenterOfMassComputationPtr_t
pinocchio::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t
Definition: fwd.hh:110
hpp::constraints::DistanceBetweenPointsInBodies
Definition: distance-between-points-in-bodies.hh:47
Eigen
Definition: fwd.hh:38
hpp::constraints::ConfigurationConstraintPtr_t
shared_ptr< ConfigurationConstraint > ConfigurationConstraintPtr_t
Definition: fwd.hh:133
hpp::constraints::TransformationR3xSO3
GenericTransformation< PositionBit|OrientationBit|OutputR3xSO3Bit > TransformationR3xSO3
Definition: fwd.hh:155
hpp::constraints::Superior
@ Superior
Definition: fwd.hh:179
hpp::constraints::AffineFunctionPtr_t
shared_ptr< AffineFunction > AffineFunctionPtr_t
Definition: fwd.hh:135
hpp::constraints::Device
pinocchio::Device Device
Definition: fwd.hh:107
hpp::constraints::HPP_CONSTRAINTS_DEPRECATED
DifferentiableFunctionSet DifferentiableFunctionStack HPP_CONSTRAINTS_DEPRECATED
Definition: fwd.hh:114
hpp::constraints::AffineFunction
Definition: affine-function.hh:81
hpp::constraints::vector_t
pinocchio::vector_t vector_t
Definition: fwd.hh:58
hpp::constraints::LockedJointConstPtr_t
shared_ptr< const LockedJoint > LockedJointConstPtr_t
Definition: fwd.hh:206
hpp::constraints::ComBetweenFeetPtr_t
shared_ptr< ComBetweenFeet > ComBetweenFeetPtr_t
Definition: fwd.hh:121
hpp::constraints::DevicePtr_t
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:108
hpp::constraints::QPStaticStabilityPtr_t
shared_ptr< QPStaticStability > QPStaticStabilityPtr_t
Definition: fwd.hh:132
hpp::constraints::BlockIndex
Eigen::BlockIndex BlockIndex
Definition: fwd.hh:170
hpp::constraints::ActiveSetDifferentiableFunctionPtr_t
shared_ptr< ActiveSetDifferentiableFunction > ActiveSetDifferentiableFunctionPtr_t
Definition: fwd.hh:116
hpp::constraints::Position
GenericTransformation< PositionBit > Position
Definition: fwd.hh:148
hpp::constraints::ExplicitConstraintSet
Definition: explicit-constraint-set.hh:99
hpp::constraints::RelativeOrientationPtr_t
shared_ptr< RelativeOrientation > RelativeOrientationPtr_t
Definition: fwd.hh:167
hpp::constraints::matrixIn_t
Eigen::Ref< const matrix_t > matrixIn_t
Definition: fwd.hh:56
hpp::constraints::LockedJointPtr_t
shared_ptr< LockedJoint > LockedJointPtr_t
Definition: fwd.hh:205
hpp::constraints::StaticStabilityPtr_t
shared_ptr< StaticStability > StaticStabilityPtr_t
Definition: fwd.hh:131
hpp::constraints::LiegroupSpacePtr_t
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:68
hpp::constraints::LockedJoint
Definition: locked-joint.hh:66
hpp::constraints::matrix3_t
pinocchio::matrix3_t matrix3_t
Definition: fwd.hh:52
hpp::constraints::Orientation
GenericTransformation< OrientationBit > Orientation
Definition: fwd.hh:149
hpp::constraints::QPStaticStability
Definition: qp-static-stability.hh:54
hpp::constraints::explicit_::RelativeTransformation
Definition: relative-transformation.hh:57
hpp::constraints::ConstantFunctionPtr_t
shared_ptr< ConstantFunction > ConstantFunctionPtr_t
Definition: fwd.hh:136
hpp::constraints::RelativeTransformationPtr_t
shared_ptr< RelativeTransformation > RelativeTransformationPtr_t
Definition: fwd.hh:168
hpp::constraints::LiegroupElement
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:64
hpp::constraints::PositionPtr_t
shared_ptr< Position > PositionPtr_t
Definition: fwd.hh:163
hpp::constraints::RelativeOrientationSO3
GenericTransformation< RelativeBit|OrientationBit|OutputR3xSO3Bit > RelativeOrientationSO3
Definition: fwd.hh:161
hpp::constraints::ComJacobian_t
pinocchio::ComJacobian_t ComJacobian_t
Definition: fwd.hh:61
hpp::constraints::vector5_t
Eigen::Matrix< value_type, 5, 1 > vector5_t
Definition: fwd.hh:74
hpp::constraints::HPP_PREDEF_CLASS
HPP_PREDEF_CLASS(DifferentiableFunction)
hpp::constraints::RelativeTransformation
GenericTransformation< RelativeBit|PositionBit|OrientationBit > RelativeTransformation
Definition: fwd.hh:151
hpp::constraints::ConvexShapeContactComplementPtr_t
shared_ptr< ConvexShapeContactComplement > ConvexShapeContactComplementPtr_t
Definition: fwd.hh:129
hpp::constraints::JointConstPtr_t
pinocchio::JointConstPtr_t JointConstPtr_t
Definition: fwd.hh:50
hpp::constraints::explicit_::RelativePosePtr_t
shared_ptr< RelativePose > RelativePosePtr_t
Definition: fwd.hh:195
hpp::constraints::StaticStability
Definition: static-stability.hh:44
hpp::constraints::ObjectVector_t
pinocchio::ObjectVector_t ObjectVector_t
Definition: fwd.hh:101
hpp::constraints::LockedJoints_t
std::vector< LockedJointPtr_t > LockedJoints_t
Definition: fwd.hh:207
hpp::constraints::matrix_t
pinocchio::matrix_t matrix_t
Definition: fwd.hh:55
hpp::constraints::ExplicitConstPtr_t
shared_ptr< const Explicit > ExplicitConstPtr_t
Definition: fwd.hh:184
hpp::constraints::ConfigurationConstraint
Square distance between input configuration and reference configuration.
Definition: configuration-constraint.hh:43
hpp::constraints::vector3_t
pinocchio::vector3_t vector3_t
Definition: fwd.hh:51
hpp::constraints::ImplicitConstraintSet
Definition: implicit-constraint-set.hh:45
deprecated.hh
hpp::constraints::vector8_t
Eigen::Matrix< value_type, 8, 1 > vector8_t
Definition: fwd.hh:54
hpp::constraints::explicit_::ConvexShapeContactPtr_t
shared_ptr< ConvexShapeContact > ConvexShapeContactPtr_t
Definition: fwd.hh:201
hpp::constraints::CollisionObjectPtr_t
pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t
Definition: fwd.hh:102
hpp::constraints::bool_array_t
ArrayXb bool_array_t
Definition: fwd.hh:80
hpp::constraints::LiegroupSpace
pinocchio::LiegroupSpace LiegroupSpace
Definition: fwd.hh:67
hpp::constraints::Configuration_t
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:104
hpp::constraints::CollisionObjectConstPtr_t
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:103
hpp::constraints::Equality
@ Equality
Definition: fwd.hh:179
hpp::constraints::NumericalConstraints_t
std::vector< constraints::ImplicitPtr_t > NumericalConstraints_t
Definition: fwd.hh:175
hpp::constraints::ConvexShapeContactPtr_t
shared_ptr< ConvexShapeContact > ConvexShapeContactPtr_t
Definition: fwd.hh:127
hpp::constraints::explicit_::ImplicitFunctionPtr_t
shared_ptr< ImplicitFunction > ImplicitFunctionPtr_t
Definition: fwd.hh:199
hpp::constraints::ImplicitConstPtr_t
shared_ptr< const Implicit > ImplicitConstPtr_t
Definition: fwd.hh:174
hpp::constraints::LiegroupElementConstRef
pinocchio::LiegroupElementConstRef LiegroupElementConstRef
Definition: fwd.hh:66
hpp::constraints::Identity
Definition: affine-function.hh:46
hpp::constraints::ConfigurationIn_t
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:105
hpp::constraints::matrixOut_t
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:57
hpp::constraints::ComparisonTypes_t
std::vector< ComparisonType > ComparisonTypes_t
Definition: fwd.hh:180
hpp::constraints::vector6_t
Eigen::Matrix< value_type, 6, 1 > vector6_t
Definition: fwd.hh:75
hpp::constraints::explicit_::HPP_PREDEF_CLASS
HPP_PREDEF_CLASS(RelativePose)
hpp::constraints::function::OfParameterSubsetPtr_t
shared_ptr< OfParameterSubset > OfParameterSubsetPtr_t
Definition: fwd.hh:211
hpp::constraints::Implicit
Definition: implicit.hh:124
hpp::constraints::solver::BySubstitution
Definition: by-substitution.hh:72
hpp::constraints::IdentityPtr_t
shared_ptr< Identity > IdentityPtr_t
Definition: fwd.hh:134
hpp
Definition: active-set-differentiable-function.hh:36
hpp::constraints::GenericTransformation
Definition: fwd.hh:139
hpp::constraints::DistanceBetweenBodiesPtr_t
shared_ptr< DistanceBetweenBodies > DistanceBetweenBodiesPtr_t
Definition: fwd.hh:117
hpp::constraints::explicit_::ImplicitFunction
Definition: implicit-function.hh:49
hpp::constraints::ConvexShapes_t
std::vector< ConvexShape > ConvexShapes_t
Definition: fwd.hh:91
hpp::constraints::ConstantFunction
Definition: affine-function.hh:147
hpp::constraints::ArrayXb
pinocchio::ArrayXb ArrayXb
Definition: fwd.hh:79
hpp::constraints::EqualToZero
@ EqualToZero
Definition: fwd.hh:179
hpp::constraints::size_type
pinocchio::size_type size_type
Definition: fwd.hh:47
hpp::constraints::LiegroupSpaceConstPtr_t
pinocchio::LiegroupSpaceConstPtr_t LiegroupSpaceConstPtr_t
Definition: fwd.hh:69
hpp::constraints::solver::HierarchicalIterative
Definition: hierarchical-iterative.hh:219
hpp::constraints::ConvexShapeContactComplement
Definition: convex-shape-contact.hh:235
hpp::constraints::Inferior
@ Inferior
Definition: fwd.hh:179
hpp::constraints::Shape_t
std::vector< vector3_t > Shape_t
Definition: fwd.hh:124
hpp::constraints::DistanceBetweenPointsInBodiesPtr_t
shared_ptr< DistanceBetweenPointsInBodies > DistanceBetweenPointsInBodiesPtr_t
Definition: fwd.hh:119
hpp::constraints::RelativeTransformationR3xSO3
GenericTransformation< RelativeBit|PositionBit|OrientationBit|OutputR3xSO3Bit > RelativeTransformationR3xSO3
Definition: fwd.hh:158
hpp::constraints::ImplicitPtr_t
shared_ptr< Implicit > ImplicitPtr_t
Definition: fwd.hh:173
hpp::constraints::value_type
pinocchio::value_type value_type
Definition: fwd.hh:48
hpp::constraints::vectorOut_t
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:60
hpp::constraints::ExplicitPtr_t
shared_ptr< Explicit > ExplicitPtr_t
Definition: fwd.hh:183
hpp::constraints::vector7_t
Eigen::Matrix< value_type, 7, 1 > vector7_t
Definition: fwd.hh:76
hpp::constraints::Transform3f
pinocchio::Transform3f Transform3f
Definition: fwd.hh:63
hpp::constraints::eigen::matrix3_t
Eigen::Matrix< value_type, 3, 3 > matrix3_t
Definition: fwd.hh:71
hpp::constraints::JointPtr_t
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:49
hpp::constraints::ComparisonType
ComparisonType
Definition: fwd.hh:179
hpp::constraints::RelativeComPtr_t
shared_ptr< RelativeCom > RelativeComPtr_t
Definition: fwd.hh:120
hpp::constraints::ConfigurationOut_t
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:106
hpp::constraints::vectorIn_t
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:59
hpp::constraints::ImplicitConstraintSetPtr_t
shared_ptr< ImplicitConstraintSet > ImplicitConstraintSetPtr_t
Definition: fwd.hh:177
hpp::constraints::RelativeCom
Definition: relative-com.hh:67
hpp::constraints::Quaternion_t
Eigen::Quaternion< value_type > Quaternion_t
Definition: fwd.hh:77
hpp::constraints::DifferentiableFunctionSet
Definition: differentiable-function-set.hh:44
hpp::constraints::Explicit
Definition: explicit.hh:132
hpp::constraints::ConvexShapeContactHoldPtr_t
shared_ptr< ConvexShapeContactHold > ConvexShapeContactHoldPtr_t
Definition: fwd.hh:130
hpp::constraints::TransformationPtr_t
shared_ptr< Transformation > TransformationPtr_t
Definition: fwd.hh:165
hpp::constraints::RelativePositionPtr_t
shared_ptr< RelativePosition > RelativePositionPtr_t
Definition: fwd.hh:166
hpp::constraints::JointAndShapes_t
std::list< JointAndShape_t > JointAndShapes_t
Definition: fwd.hh:126
hpp::constraints::Transformation
DEVEL typedef GenericTransformation< PositionBit|OrientationBit > Transformation
Definition: fwd.hh:139
hpp::constraints::DifferentiableFunctionPtr_t
shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
Definition: fwd.hh:111
hpp::constraints::LiegroupElementRef
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:65
hpp::constraints::DistanceBetweenBodies
Definition: distance-between-bodies.hh:49
hpp::constraints::CenterOfMassComputation
pinocchio::CenterOfMassComputation CenterOfMassComputation
Definition: fwd.hh:109
hpp::constraints::ConvexShapeContactHold
Definition: convex-shape-contact.hh:289
hpp::constraints::RelativeOrientation
GenericTransformation< RelativeBit|OrientationBit > RelativeOrientation
Definition: fwd.hh:153
hpp::constraints::segments_t
std::vector< segment_t > segments_t
Definition: fwd.hh:83
hpp::constraints::JointJacobian_t
pinocchio::JointJacobian_t JointJacobian_t
Definition: fwd.hh:62
hpp::constraints::ComBetweenFeet
Definition: com-between-feet.hh:67
hpp::constraints::eigen::vector3_t
Eigen::Matrix< value_type, 3, 1 > vector3_t
Definition: fwd.hh:72
hpp::constraints::matrix6_t
Eigen::Matrix< value_type, 6, 6 > matrix6_t
Definition: fwd.hh:53
hpp::constraints::JointAndShape_t
std::pair< JointPtr_t, Shape_t > JointAndShape_t
Definition: fwd.hh:125
hpp::constraints::function::HPP_PREDEF_CLASS
HPP_PREDEF_CLASS(OfParameterSubset)
hpp::constraints::DifferentiableFunctionSetPtr_t
shared_ptr< DifferentiableFunctionSet > DifferentiableFunctionSetPtr_t
Definition: fwd.hh:112
hpp::constraints::explicit_::ConvexShapeContact
Definition: convex-shape-contact.hh:38
hpp::constraints::RelativePosition
GenericTransformation< RelativeBit|PositionBit > RelativePosition
Definition: fwd.hh:152
hpp::constraints::explicit_::RelativeTransformationPtr_t
shared_ptr< RelativeTransformation > RelativeTransformationPtr_t
Definition: fwd.hh:197
hpp::constraints::ConvexShape
Definition: convex-shape.hh:73
Eigen::BlockIndex
Definition: matrix-view.hh:49
hpp::constraints::OrientationSO3
GenericTransformation< OrientationBit|OutputR3xSO3Bit > OrientationSO3
Definition: fwd.hh:159