hpp-constraints
4.9.0
Definition of basic geometric constraints for motion planning
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20 #ifndef HPP_CONSTRAINTS_COM_BETWEEN_FEET_HH
21 # define HPP_CONSTRAINTS_COM_BETWEEN_FEET_HH
23 # include <boost/assign/list_of.hpp>
31 namespace constraints {
60 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
68 std::vector <bool> mask = boost::assign::list_of (
true)(
true)(
true)(
true));
77 std::vector <bool> mask = boost::assign::list_of (
true)(
true)(
true)(
true));
86 std::vector <bool> mask);
109 DiffPiJPiJ > ECrossU_t;
115 std::vector <bool> mask_;
120 #endif // HPP_CONSTRAINTS_COM_BETWEEN_FEET_HH
pinocchio::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t
Definition: fwd.hh:93
Cross product of two expressions.
Definition: symbolic-calculus.hh:95
Definition: differentiable-function.hh:50
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:91
Multiplication of an expression by a scalar.
Definition: symbolic-calculus.hh:99
virtual ~ComBetweenFeet()
Definition: com-between-feet.hh:79
Basic expression representing a COM.
Definition: symbolic-calculus.hh:825
boost::shared_ptr< ComBetweenFeet > ComBetweenFeetPtr_t
Definition: fwd.hh:107
Sum of two expressions.
Definition: symbolic-calculus.hh:98
pinocchio::vector3_t vector3_t
Definition: fwd.hh:39
Difference of two expressions.
Definition: symbolic-calculus.hh:97
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:88
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:44
Definition: active-set-differentiable-function.hh:24
Definition: symbolic-calculus.hh:92
Eigen::Matrix< value_type, 3, 3 > matrix3_t
Definition: fwd.hh:57
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:37
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:52
Definition: com-between-feet.hh:57
Eigen::Matrix< value_type, 3, 1 > vector3_t
Definition: fwd.hh:58
HPP_CONSTRAINTS_CB_REF< Class > Ptr_t
Definition: symbolic-calculus.hh:107