hpp-constraints
4.15.1
Definition of basic geometric constraints for motion planning
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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>());
250 return equalityIndices_;
256 void setInactiveRowsToZero(
vectorOut_t error)
const;
276 virtual std::pair<JointConstPtr_t, JointConstPtr_t>
290 std::vector<bool> mask);
298 virtual bool isEqual(
const Implicit& other,
bool swapAndTest)
const;
301 void init(
const ImplicitWkPtr_t& weak) { weak_ = weak; }
306 void computeIndices();
307 void computeActiveRows();
313 std::vector<bool> mask_;
316 std::vector<std::size_t> inequalityIndices_;
318 ImplicitWkPtr_t weak_;
333 #endif // HPP_CONSTRAINTS_IMPLICIT_HH
Definition: differentiable-function.hh:63
pinocchio::vector_t vector_t
Definition: fwd.hh:59
const DifferentiableFunctionPtr_t & functionPtr() const
Return a reference to function .
Definition: implicit.hh:262
bool checkAllRowsActive() const
Check if all rows are active (no inactive rows)
Definition: implicit.hh:246
void init(const ImplicitWkPtr_t &weak)
Definition: implicit.hh:301
const Eigen::RowBlockIndices & equalityIndices() const
Get indices of constraint coordinates that are equality.
Definition: implicit.hh:249
#define HPP_CONSTRAINTS_DEPRECATED
Definition: deprecated.hh:37
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:65
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:67
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:106
std::vector< ComparisonType > ComparisonTypes_t
Definition: fwd.hh:182
Definition: implicit.hh:124
Definition: active-set-differentiable-function.hh:36
const DifferentiableFunctionPtr_t & rightHandSideFunction() const
Definition: implicit.hh:225
pinocchio::size_type size_type
Definition: fwd.hh:47
Implicit()
Definition: implicit.hh:324
shared_ptr< Implicit > ImplicitPtr_t
Definition: fwd.hh:175
pinocchio::value_type value_type
Definition: fwd.hh:48
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:61
const segments_t & activeRows() const
Definition: implicit.hh:243
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:60
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
Definition: fwd.hh:113
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:66
std::vector< segment_t > segments_t
Definition: fwd.hh:84
pinocchio::DeviceConstPtr_t DeviceConstPtr_t
Definition: fwd.hh:110