hpp-constraints
4.14.0
Definition of basic geometric constraints for motion planning
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29 #ifndef HPP_CONSTRAINTS_EXPLICIT_RELATIVE_POSE_HH
30 #define HPP_CONSTRAINTS_EXPLICIT_RELATIVE_POSE_HH
33 #include <pinocchio/spatial/se3.hpp>
36 namespace constraints {
128 virtual void jacobianOutputValue(
vectorIn_t qin,
154 std::vector<bool> mask = std::vector<bool>(6,
true));
160 void init(RelativePoseWkPtr_t weak);
204 void explicitToImplicitRhs(
vectorIn_t explicitRhs,
212 RelativePoseWkPtr_t weak_;
223 #endif // HPP_CONSTRAINTS_EXPLICIT_RELATIVE_POSE_HH
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:109
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:69
Definition: relative-pose.hh:75
pinocchio::JointConstPtr_t JointConstPtr_t
Definition: fwd.hh:50
shared_ptr< RelativePose > RelativePosePtr_t
Definition: fwd.hh:197
pinocchio::LiegroupElementConstRef LiegroupElementConstRef
Definition: fwd.hh:67
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:58
std::vector< ComparisonType > ComparisonTypes_t
Definition: fwd.hh:182
Definition: active-set-differentiable-function.hh:36
shared_ptr< Implicit > ImplicitPtr_t
Definition: fwd.hh:175
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:61
pinocchio::Transform3f Transform3f
Definition: fwd.hh:64
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:60
Definition: explicit.hh:132
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:66