hpp-constraints
4.15.1
Definition of basic geometric constraints for motion planning
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31 #ifndef HPP_CONSTRAINTS_FWD_HH
32 #define HPP_CONSTRAINTS_FWD_HH
35 #include <hpp/pinocchio/fwd.hh>
43 namespace constraints {
117 typedef shared_ptr<ActiveSetDifferentiableFunction>
120 typedef shared_ptr<DistanceBetweenPointsInBodies>
130 typedef shared_ptr<ConvexShapeContactComplement>
140 template <
int _Options>
144 const int RelativeBit = 0x1;
145 const int PositionBit = 0x2;
146 const int OrientationBit = 0x4;
147 const int OutputR3xSO3Bit = 0x8;
194 namespace explicit_ {
218 #endif // HPP_CONSTRAINTS_FWD_HH
std::pair< size_type, size_type > segment_t
Definition: fwd.hh:83
shared_ptr< Orientation > OrientationPtr_t
Definition: fwd.hh:166
pinocchio::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t
Definition: fwd.hh:112
Definition: distance-between-points-in-bodies.hh:47
shared_ptr< ConfigurationConstraint > ConfigurationConstraintPtr_t
Definition: fwd.hh:135
GenericTransformation< PositionBit|OrientationBit|OutputR3xSO3Bit > TransformationR3xSO3
Definition: fwd.hh:157
@ Superior
Definition: fwd.hh:181
shared_ptr< AffineFunction > AffineFunctionPtr_t
Definition: fwd.hh:137
pinocchio::Device Device
Definition: fwd.hh:108
pinocchio::Joint Joint
Definition: fwd.hh:51
Definition: affine-function.hh:81
pinocchio::vector_t vector_t
Definition: fwd.hh:59
shared_ptr< const LockedJoint > LockedJointConstPtr_t
Definition: fwd.hh:208
shared_ptr< ComBetweenFeet > ComBetweenFeetPtr_t
Definition: fwd.hh:123
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:109
shared_ptr< QPStaticStability > QPStaticStabilityPtr_t
Definition: fwd.hh:134
Eigen::BlockIndex BlockIndex
Definition: fwd.hh:172
shared_ptr< ActiveSetDifferentiableFunction > ActiveSetDifferentiableFunctionPtr_t
Definition: fwd.hh:118
GenericTransformation< PositionBit > Position
Definition: fwd.hh:150
Definition: explicit-constraint-set.hh:99
shared_ptr< RelativeOrientation > RelativeOrientationPtr_t
Definition: fwd.hh:169
Eigen::Ref< const matrix_t > matrixIn_t
Definition: fwd.hh:57
shared_ptr< LockedJoint > LockedJointPtr_t
Definition: fwd.hh:207
shared_ptr< StaticStability > StaticStabilityPtr_t
Definition: fwd.hh:133
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:69
Definition: locked-joint.hh:66
#define HPP_CONSTRAINTS_DEPRECATED
Definition: deprecated.hh:37
pinocchio::matrix3_t matrix3_t
Definition: fwd.hh:53
GenericTransformation< OrientationBit > Orientation
Definition: fwd.hh:151
Definition: qp-static-stability.hh:54
shared_ptr< ConstantFunction > ConstantFunctionPtr_t
Definition: fwd.hh:138
shared_ptr< RelativeTransformation > RelativeTransformationPtr_t
Definition: fwd.hh:170
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:65
shared_ptr< Position > PositionPtr_t
Definition: fwd.hh:165
GenericTransformation< RelativeBit|OrientationBit|OutputR3xSO3Bit > RelativeOrientationSO3
Definition: fwd.hh:163
pinocchio::ComJacobian_t ComJacobian_t
Definition: fwd.hh:62
Eigen::Matrix< value_type, 5, 1 > vector5_t
Definition: fwd.hh:75
HPP_PREDEF_CLASS(DifferentiableFunction)
GenericTransformation< RelativeBit|PositionBit|OrientationBit > RelativeTransformation
Definition: fwd.hh:153
shared_ptr< ConvexShapeContactComplement > ConvexShapeContactComplementPtr_t
Definition: fwd.hh:131
pinocchio::JointConstPtr_t JointConstPtr_t
Definition: fwd.hh:50
shared_ptr< RelativePose > RelativePosePtr_t
Definition: fwd.hh:197
Definition: static-stability.hh:44
pinocchio::ObjectVector_t ObjectVector_t
Definition: fwd.hh:102
std::vector< LockedJointPtr_t > LockedJoints_t
Definition: fwd.hh:209
pinocchio::matrix_t matrix_t
Definition: fwd.hh:56
shared_ptr< const Explicit > ExplicitConstPtr_t
Definition: fwd.hh:186
Square distance between input configuration and reference configuration.
Definition: configuration-constraint.hh:43
pinocchio::vector3_t vector3_t
Definition: fwd.hh:52
Definition: implicit-constraint-set.hh:45
Eigen::Matrix< value_type, 8, 1 > vector8_t
Definition: fwd.hh:55
shared_ptr< ConvexShapeContact > ConvexShapeContactPtr_t
Definition: fwd.hh:203
pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t
Definition: fwd.hh:103
ArrayXb bool_array_t
Definition: fwd.hh:81
pinocchio::LiegroupSpace LiegroupSpace
Definition: fwd.hh:68
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:105
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:104
@ Equality
Definition: fwd.hh:181
std::vector< constraints::ImplicitPtr_t > NumericalConstraints_t
Definition: fwd.hh:177
shared_ptr< ConvexShapeContact > ConvexShapeContactPtr_t
Definition: fwd.hh:129
shared_ptr< ImplicitFunction > ImplicitFunctionPtr_t
Definition: fwd.hh:201
shared_ptr< const Implicit > ImplicitConstPtr_t
Definition: fwd.hh:176
pinocchio::LiegroupElementConstRef LiegroupElementConstRef
Definition: fwd.hh:67
Definition: affine-function.hh:46
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:106
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:58
std::vector< ComparisonType > ComparisonTypes_t
Definition: fwd.hh:182
Eigen::Matrix< value_type, 6, 1 > vector6_t
Definition: fwd.hh:76
HPP_PREDEF_CLASS(RelativePose)
shared_ptr< OfParameterSubset > OfParameterSubsetPtr_t
Definition: fwd.hh:213
Definition: implicit.hh:124
Definition: by-substitution.hh:72
shared_ptr< Identity > IdentityPtr_t
Definition: fwd.hh:136
Definition: active-set-differentiable-function.hh:36
shared_ptr< DistanceBetweenBodies > DistanceBetweenBodiesPtr_t
Definition: fwd.hh:119
Definition: implicit-function.hh:49
std::vector< ConvexShape > ConvexShapes_t
Definition: fwd.hh:92
Definition: affine-function.hh:147
HPP_CONSTRAINTS_DEPRECATED typedef DifferentiableFunctionSet DifferentiableFunctionStack
Definition: fwd.hh:116
pinocchio::ArrayXb ArrayXb
Definition: fwd.hh:80
@ EqualToZero
Definition: fwd.hh:181
pinocchio::size_type size_type
Definition: fwd.hh:47
pinocchio::LiegroupSpaceConstPtr_t LiegroupSpaceConstPtr_t
Definition: fwd.hh:70
Definition: hierarchical-iterative.hh:232
std::vector< JointAndShape_t > JointAndShapes_t
Definition: fwd.hh:128
@ Inferior
Definition: fwd.hh:181
std::vector< vector3_t > Shape_t
Definition: fwd.hh:126
shared_ptr< DistanceBetweenPointsInBodies > DistanceBetweenPointsInBodiesPtr_t
Definition: fwd.hh:121
GenericTransformation< RelativeBit|PositionBit|OrientationBit|OutputR3xSO3Bit > RelativeTransformationR3xSO3
Definition: fwd.hh:160
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
shared_ptr< Explicit > ExplicitPtr_t
Definition: fwd.hh:185
Eigen::Matrix< value_type, 7, 1 > vector7_t
Definition: fwd.hh:77
pinocchio::Transform3f Transform3f
Definition: fwd.hh:64
Eigen::Matrix< value_type, 3, 3 > matrix3_t
Definition: fwd.hh:72
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:49
ComparisonType
Definition: fwd.hh:181
shared_ptr< RelativeCom > RelativeComPtr_t
Definition: fwd.hh:122
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:107
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:60
shared_ptr< ImplicitConstraintSet > ImplicitConstraintSetPtr_t
Definition: fwd.hh:179
Definition: relative-com.hh:67
Eigen::Quaternion< value_type > Quaternion_t
Definition: fwd.hh:78
Definition: differentiable-function-set.hh:44
Definition: explicit.hh:132
shared_ptr< ConvexShapeContactHold > ConvexShapeContactHoldPtr_t
Definition: fwd.hh:132
shared_ptr< Transformation > TransformationPtr_t
Definition: fwd.hh:167
shared_ptr< RelativePosition > RelativePositionPtr_t
Definition: fwd.hh:168
DEVEL typedef GenericTransformation< PositionBit|OrientationBit > Transformation
Definition: fwd.hh:141
shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
Definition: fwd.hh:113
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:66
Definition: distance-between-bodies.hh:49
pinocchio::CenterOfMassComputation CenterOfMassComputation
Definition: fwd.hh:111
GenericTransformation< RelativeBit|OrientationBit > RelativeOrientation
Definition: fwd.hh:155
std::vector< segment_t > segments_t
Definition: fwd.hh:84
pinocchio::JointJacobian_t JointJacobian_t
Definition: fwd.hh:63
Definition: com-between-feet.hh:67
Eigen::Matrix< value_type, 3, 1 > vector3_t
Definition: fwd.hh:73
Eigen::Matrix< value_type, 6, 6 > matrix6_t
Definition: fwd.hh:54
std::pair< JointPtr_t, Shape_t > JointAndShape_t
Definition: fwd.hh:127
HPP_PREDEF_CLASS(OfParameterSubset)
shared_ptr< DifferentiableFunctionSet > DifferentiableFunctionSetPtr_t
Definition: fwd.hh:114
GenericTransformation< RelativeBit|PositionBit > RelativePosition
Definition: fwd.hh:154
shared_ptr< RelativeTransformation > RelativeTransformationPtr_t
Definition: fwd.hh:199
Definition: convex-shape.hh:73
Definition: matrix-view.hh:49
pinocchio::DeviceConstPtr_t DeviceConstPtr_t
Definition: fwd.hh:110
GenericTransformation< OrientationBit|OutputR3xSO3Bit > OrientationSO3
Definition: fwd.hh:161