hpp-constraints
4.9.0
Definition of basic geometric constraints for motion planning
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17 #ifndef HPP_CONSTRAINTS_FUNCTION_OF_PARAMETER_SUBSET_HH
18 # define HPP_CONSTRAINTS_FUNCTION_OF_PARAMETER_SUBSET_HH
23 namespace constraints {
73 g_->value(y, arg.segment (sa_.first, sa_.second));
78 g_->jacobian(J.middleCols (sd_.first, sd_.second),
79 arg.segment (sa_.first, sa_.second));
82 std::ostream& print (std::ostream& os)
const;
90 #endif // HPP_CONSTRAINTS_FUNCTION_OF_PARAMETER_SUBSET_HH
std::pair< size_type, size_type > segment_t
Definition: fwd.hh:68
Definition: differentiable-function.hh:50
void impl_compute(LiegroupElementRef y, vectorIn_t arg) const
User implementation of function evaluation.
Definition: of-parameter-subset.hh:71
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:44
void impl_jacobian(matrixOut_t J, vectorIn_t arg) const
Definition: of-parameter-subset.hh:76
Definition: of-parameter-subset.hh:39
Definition: active-set-differentiable-function.hh:24
pinocchio::size_type size_type
Definition: fwd.hh:35
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:46
boost::shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
Definition: fwd.hh:95
DifferentiableFunctionPtr_t g_
Definition: of-parameter-subset.hh:84
boost::shared_ptr< OfParameterSubset > OfParameterSubsetPtr_t
Definition: fwd.hh:206
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:52
const segment_t sd_
Definition: of-parameter-subset.hh:85