hpp-constraints
4.15.1
Definition of basic geometric constraints for motion planning
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31 #ifndef HPP_CONSTRAINTS_CONFIGURATION_CONSTRAINT_HH
32 #define HPP_CONSTRAINTS_CONFIGURATION_CONSTRAINT_HH
40 namespace constraints {
46 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
51 std::vector<bool> mask = std::vector<bool>(0));
82 std::ostream& print(std::ostream& o)
const;
89 if (robot_ != castother.robot_)
return false;
90 if (goal_.vector() != castother.goal_.vector())
return false;
91 if (weights_ != castother.weights_)
return false;
97 typedef Eigen::Array<bool, Eigen::Dynamic, 1> EigenBoolVector_t;
104 #endif // HPP_CONSTRAINTS_CONFIGURATION_CONSTRAINT_HH
shared_ptr< ConfigurationConstraint > ConfigurationConstraintPtr_t
Definition: fwd.hh:135
Definition: differentiable-function.hh:63
pinocchio::vector_t vector_t
Definition: fwd.hh:59
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:109
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:65
const vector_t & weights() const
Definition: configuration-constraint.hh:66
Square distance between input configuration and reference configuration.
Definition: configuration-constraint.hh:43
bool isEqual(const DifferentiableFunction &other) const
Definition: configuration-constraint.hh:84
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:106
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:58
Definition: active-set-differentiable-function.hh:36
virtual bool isEqual(const DifferentiableFunction &other) const
Definition: differentiable-function.hh:206
const LiegroupElement & goal() const
Definition: configuration-constraint.hh:70
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:66
virtual ~ConfigurationConstraint()
Definition: configuration-constraint.hh:60