hpp-constraints
4.9.0
Definition of basic geometric constraints for motion planning
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17 #ifndef HPP_CONSTRAINTS_EXPLICIT_IMPLICIT_FUNCTION_HH
18 # define HPP_CONSTRAINTS_EXPLICIT_IMPLICIT_FUNCTION_HH
24 namespace constraints {
43 typedef boost::shared_ptr <ImplicitFunction>
Ptr_t;
113 void computeJacobianBlocks ();
121 std::vector <Eigen::MatrixBlocks <false, false> > outJacobian_;
122 std::vector <Eigen::MatrixBlocks <false, false> > inJacobian_;
134 #endif // HPP_CONSTRAINTS_EXPLICIT_IMPLICIT_FUNCTION_HH
const DifferentiableFunctionPtr_t & inputToOutput() const
Get function f that maps input variables to output variables.
ImplicitFunction(const DevicePtr_t &robot, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity) HPP_CONSTRAINTS_DEPRECATED
Definition: differentiable-function.hh:50
pinocchio::vector_t vector_t
Definition: fwd.hh:45
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:91
static Ptr_t create(const DevicePtr_t &robot, const DifferentiableFunctionPtr_t &function, const segments_t &inputConf, const segments_t &outputConf, const segments_t &inputVelocity, const segments_t &outputVelocity) HPP_CONSTRAINTS_DEPRECATED
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:54
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:51
void jacobian(matrixOut_t jacobian, vectorIn_t argument) const
Definition: differentiable-function.hh:78
pinocchio::matrix_t matrix_t
Definition: fwd.hh:42
std::vector< segment_t > segments_t
Definition: fwd.hh:69
boost::shared_ptr< ImplicitFunction > Ptr_t
Definition: implicit-function.hh:43
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:44
Definition: active-set-differentiable-function.hh:24
Definition: implicit-function.hh:37
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:46
boost::shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
Definition: fwd.hh:95
void impl_compute(LiegroupElementRef result, vectorIn_t argument) const
Compute g (q_out) - f (q_in)
DifferentiableFunctionSet DifferentiableFunctionStack HPP_CONSTRAINTS_DEPRECATED
Definition: fwd.hh:99
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:52
void impl_jacobian(matrixOut_t jacobian, vectorIn_t arg) const
Compute Jacobian of g (q_out) - f (q_in) with respect to q.