hpp-constraints
4.9.0
Definition of basic geometric constraints for motion planning
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17 #ifndef HPP_CONSTRAINTS_EXPLICIT_HH
18 # define HPP_CONSTRAINTS_EXPLICIT_HH
23 namespace constraints {
188 return inputToOutput_;
199 return outputVelocity_;
209 return inputVelocity_;
226 explicitRhs = implicitRhs;
244 implicitRhs = explicitRhs;
301 void init (
const ExplicitWkPtr_t& weak);
310 ExplicitWkPtr_t weak_;
316 #endif // HPP_CONSTRAINTS_EXPLICIT_HH
const segments_t & outputVelocity() const
Get output degrees of freedom.
Definition: explicit.hh:197
segments_t outputConf_
Definition: explicit.hh:306
segments_t inputConf_
Definition: explicit.hh:305
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:91
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:54
const segments_t & outputConf() const
Get output configuration variables.
Definition: explicit.hh:192
std::vector< segment_t > segments_t
Definition: fwd.hh:69
const segments_t & inputConf() const
Get input configuration variables.
Definition: explicit.hh:202
segments_t inputVelocity_
Definition: explicit.hh:307
std::vector< ComparisonType > ComparisonTypes_t
Definition: fwd.hh:170
virtual DifferentiableFunctionPtr_t explicitFunction() const
Definition: explicit.hh:186
Definition: implicit.hh:96
Definition: active-set-differentiable-function.hh:24
boost::shared_ptr< Explicit > ExplicitPtr_t
Definition: fwd.hh:173
segments_t outputVelocity_
Definition: explicit.hh:308
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:47
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:46
boost::shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
Definition: fwd.hh:95
Definition: explicit.hh:124
virtual void explicitToImplicitRhs(vectorIn_t explicitRhs, vectorOut_t implicitRhs) const
Definition: explicit.hh:241
boost::shared_ptr< Implicit > ImplicitPtr_t
Definition: fwd.hh:157
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
DifferentiableFunctionSet DifferentiableFunctionStack HPP_CONSTRAINTS_DEPRECATED
Definition: fwd.hh:99
const segments_t & inputVelocity() const
Get input degrees of freedom.
Definition: explicit.hh:207
DifferentiableFunctionPtr_t inputToOutput_
Definition: explicit.hh:304
virtual void implicitToExplicitRhs(vectorIn_t implicitRhs, vectorOut_t explicitRhs) const
Definition: explicit.hh:223