hpp-constraints
4.9.0
Definition of basic geometric constraints for motion planning
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20 #ifndef HPP_CONSTRAINTS_FWD_HH
21 # define HPP_CONSTRAINTS_FWD_HH
23 # include <hpp/pinocchio/fwd.hh>
31 namespace constraints {
94 typedef boost::shared_ptr <DifferentiableFunction>
96 typedef boost::shared_ptr <DifferentiableFunctionSet>
100 typedef boost::shared_ptr <ActiveSetDifferentiableFunction>
102 typedef boost::shared_ptr <DistanceBetweenBodies>
104 typedef boost::shared_ptr <DistanceBetweenPointsInBodies>
108 typedef boost::shared_ptr<ConvexShapeContact>
110 typedef boost::shared_ptr<ConvexShapeContactComplement>
114 typedef boost::shared_ptr<ConfigurationConstraint>
130 const int RelativeBit = 0x1;
131 const int PositionBit = 0x2;
132 const int OrientationBit = 0x4;
133 const int OutputSE3Bit = 0x8;
151 typedef boost::shared_ptr<RelativeTransformation>
161 typedef boost::shared_ptr <ImplicitConstraintSet>
188 namespace explicit_ {
193 typedef boost::shared_ptr <RelativeTransformation>
215 #endif // HPP_CONSTRAINTS_FWD_HH
std::pair< size_type, size_type > segment_t
Definition: fwd.hh:68
boost::shared_ptr< Identity > IdentityPtr_t
Definition: fwd.hh:116
pinocchio::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t
Definition: fwd.hh:93
HPP_PREDEF_CLASS(RelativePose)
Definition: distance-between-points-in-bodies.hh:36
@ Superior
Definition: fwd.hh:167
pinocchio::Device Device
Definition: fwd.hh:90
HPP_CONSTRAINTS_DEPRECATED ConvexShapeContactComplement StaticStabilityGravityComplement
Definition: fwd.hh:121
boost::shared_ptr< Position > PositionPtr_t
Definition: fwd.hh:146
Definition: affine-function.hh:64
pinocchio::vector_t vector_t
Definition: fwd.hh:45
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:91
GenericTransformation< PositionBit > Position
Definition: fwd.hh:136
Eigen::BlockIndex BlockIndex
Definition: fwd.hh:154
Definition: explicit-constraint-set.hh:93
Eigen::Ref< const matrix_t > matrixIn_t
Definition: fwd.hh:43
boost::shared_ptr< DistanceBetweenBodies > DistanceBetweenBodiesPtr_t
Definition: fwd.hh:103
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:54
Definition: locked-joint.hh:56
pinocchio::matrix3_t matrix3_t
Definition: fwd.hh:40
GenericTransformation< OrientationBit > Orientation
Definition: fwd.hh:137
HPP_CONSTRAINTS_DEPRECATED ConvexShapeContactPtr_t StaticStabilityGravityPtr_t
Definition: fwd.hh:123
GenericTransformation< RelativeBit|PositionBit|OrientationBit > RelativeTransformation
Definition: fwd.hh:138
Definition: qp-static-stability.hh:33
boost::shared_ptr< ComBetweenFeet > ComBetweenFeetPtr_t
Definition: fwd.hh:107
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:51
pinocchio::ComJacobian_t ComJacobian_t
Definition: fwd.hh:48
Eigen::Matrix< value_type, 5, 1 > vector5_t
Definition: fwd.hh:60
boost::shared_ptr< ActiveSetDifferentiableFunction > ActiveSetDifferentiableFunctionPtr_t
Definition: fwd.hh:101
HPP_PREDEF_CLASS(DifferentiableFunction)
pinocchio::JointConstPtr_t JointConstPtr_t
Definition: fwd.hh:38
Definition: static-stability.hh:34
Constraint of relative pose between two frames on a kinematic chain.
Definition: relative-pose.hh:26
pinocchio::ObjectVector_t ObjectVector_t
Definition: fwd.hh:84
std::vector< LockedJointPtr_t > LockedJoints_t
Definition: fwd.hh:202
pinocchio::matrix_t matrix_t
Definition: fwd.hh:42
boost::shared_ptr< ConfigurationConstraint > ConfigurationConstraintPtr_t
Definition: fwd.hh:115
Square distance between input configuration and reference configuration.
Definition: configuration-constraint.hh:33
GenericTransformation< OrientationBit|OutputSE3Bit > OrientationSO3
Definition: fwd.hh:143
boost::shared_ptr< ImplicitConstraintSet > ImplicitConstraintSetPtr_t
Definition: fwd.hh:162
pinocchio::vector3_t vector3_t
Definition: fwd.hh:39
Definition: implicit-constraint-set.hh:34
std::vector< segment_t > segments_t
Definition: fwd.hh:69
pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t
Definition: fwd.hh:85
GenericTransformation< RelativeBit|PositionBit > RelativePosition
Definition: fwd.hh:139
ArrayXb bool_array_t
Definition: fwd.hh:66
pinocchio::LiegroupSpace LiegroupSpace
Definition: fwd.hh:53
boost::shared_ptr< ConstantFunction > ConstantFunctionPtr_t
Definition: fwd.hh:118
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:87
boost::shared_ptr< ImplicitFunction > ImplicitFunctionPtr_t
Definition: fwd.hh:196
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:86
@ Equality
Definition: fwd.hh:165
boost::shared_ptr< StaticStability > StaticStabilityPtr_t
Definition: fwd.hh:112
boost::shared_ptr< ConvexShapeContact > ConvexShapeContactPtr_t
Definition: fwd.hh:109
HPP_CONSTRAINTS_DEPRECATED ConvexShapeContactComplementPtr_t StaticStabilityGravityComplementPtr_t
Definition: fwd.hh:125
GenericTransformation< RelativeBit|PositionBit|OrientationBit|OutputSE3Bit > RelativeTransformationSE3
Definition: fwd.hh:142
Definition: affine-function.hh:35
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:88
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:44
std::vector< ComparisonType > ComparisonTypes_t
Definition: fwd.hh:170
Eigen::Matrix< value_type, 6, 1 > vector6_t
Definition: fwd.hh:61
HPP_PREDEF_CLASS(RelativePose)
Definition: implicit.hh:96
Definition: by-substitution.hh:62
Definition: active-set-differentiable-function.hh:24
boost::shared_ptr< RelativePosition > RelativePositionPtr_t
Definition: fwd.hh:149
Definition: implicit-function.hh:37
Definition: affine-function.hh:113
boost::shared_ptr< Explicit > ExplicitPtr_t
Definition: fwd.hh:173
boost::shared_ptr< const RelativePose > RelativePoseConstPtr_t
Definition: fwd.hh:185
boost::shared_ptr< RelativeTransformation > RelativeTransformationPtr_t
Definition: fwd.hh:194
pinocchio::ArrayXb ArrayXb
Definition: fwd.hh:65
@ EqualToZero
Definition: fwd.hh:166
pinocchio::size_type size_type
Definition: fwd.hh:35
pinocchio::LiegroupSpaceConstPtr_t LiegroupSpaceConstPtr_t
Definition: fwd.hh:55
Definition: hierarchical-iterative.hh:165
@ Inferior
Definition: fwd.hh:168
boost::shared_ptr< Transformation > TransformationPtr_t
Definition: fwd.hh:148
GenericTransformation< RelativeBit|OrientationBit > RelativeOrientation
Definition: fwd.hh:140
boost::shared_ptr< const Explicit > ExplicitConstPtr_t
Definition: fwd.hh:174
pinocchio::value_type value_type
Definition: fwd.hh:36
boost::shared_ptr< DistanceBetweenPointsInBodies > DistanceBetweenPointsInBodiesPtr_t
Definition: fwd.hh:105
boost::shared_ptr< AffineFunction > AffineFunctionPtr_t
Definition: fwd.hh:117
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:47
Eigen::Matrix< value_type, 7, 1 > vector7_t
Definition: fwd.hh:62
std::vector< constraints::ImplicitPtr_t > NumericalConstraints_t
Definition: fwd.hh:159
pinocchio::Transform3f Transform3f
Definition: fwd.hh:50
Eigen::Matrix< value_type, 3, 3 > matrix3_t
Definition: fwd.hh:57
boost::shared_ptr< Orientation > OrientationPtr_t
Definition: fwd.hh:147
HPP_CONSTRAINTS_DEPRECATED ConvexShapeContact StaticStabilityGravity
Definition: fwd.hh:120
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:37
GenericTransformation< PositionBit|OrientationBit|OutputSE3Bit > TransformationSE3
Definition: fwd.hh:141
ComparisonType
Definition: fwd.hh:164
boost::shared_ptr< LockedJoint > LockedJointPtr_t
Definition: fwd.hh:200
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:89
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:46
Definition: relative-com.hh:57
Eigen::Quaternion< value_type > Quaternion_t
Definition: fwd.hh:63
boost::shared_ptr< RelativePose > RelativePosePtr_t
Definition: fwd.hh:184
boost::shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
Definition: fwd.hh:95
Definition: differentiable-function-set.hh:33
boost::shared_ptr< const Implicit > ImplicitConstPtr_t
Definition: fwd.hh:158
Definition: explicit.hh:124
boost::shared_ptr< RelativePose > RelativePosePtr_t
Definition: fwd.hh:191
boost::shared_ptr< RelativeCom > RelativeComPtr_t
Definition: fwd.hh:106
boost::shared_ptr< OfParameterSubset > OfParameterSubsetPtr_t
Definition: fwd.hh:206
boost::shared_ptr< Implicit > ImplicitPtr_t
Definition: fwd.hh:157
boost::shared_ptr< DifferentiableFunctionSet > DifferentiableFunctionSetPtr_t
Definition: fwd.hh:97
GenericTransformation< RelativeBit|OrientationBit|OutputSE3Bit > RelativeOrientationSO3
Definition: fwd.hh:144
DifferentiableFunctionSet DifferentiableFunctionStack HPP_CONSTRAINTS_DEPRECATED
Definition: fwd.hh:99
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:52
Definition: distance-between-bodies.hh:40
pinocchio::CenterOfMassComputation CenterOfMassComputation
Definition: fwd.hh:92
boost::shared_ptr< ConvexShapeContactComplement > ConvexShapeContactComplementPtr_t
Definition: fwd.hh:111
pinocchio::JointJacobian_t JointJacobian_t
Definition: fwd.hh:49
boost::shared_ptr< RelativeOrientation > RelativeOrientationPtr_t
Definition: fwd.hh:150
Definition: com-between-feet.hh:57
boost::shared_ptr< QPStaticStability > QPStaticStabilityPtr_t
Definition: fwd.hh:113
Eigen::Matrix< value_type, 3, 1 > vector3_t
Definition: fwd.hh:58
Eigen::Matrix< value_type, 6, 6 > matrix6_t
Definition: fwd.hh:41
boost::shared_ptr< RelativeTransformation > RelativeTransformationPtr_t
Definition: fwd.hh:152
HPP_PREDEF_CLASS(OfParameterSubset)
boost::shared_ptr< const LockedJoint > LockedJointConstPtr_t
Definition: fwd.hh:201
DEVEL typedef GenericTransformation< PositionBit|OrientationBit > Transformation
Definition: fwd.hh:127
Definition: matrix-view.hh:37