hpp-constraints
4.9.0
Definition of basic geometric constraints for motion planning
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20 #ifndef HPP_CONSTRAINTS_DISTANCE_BETWEEN_BODIES_HH
21 # define HPP_CONSTRAINTS_DISTANCE_BETWEEN_BODIES_HH
23 # include <pinocchio/multibody/geometry.hpp>
25 # include <hpp/pinocchio/collision-object.hh>
26 # include <hpp/pinocchio/liegroup-element.hh>
32 namespace constraints {
44 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
66 const std::vector<CollisionObjectPtr_t>& objects);
89 const std::vector<CollisionObjectPtr_t>& objects);
96 typedef ::pinocchio::GeometryData GeometryData;
101 mutable GeometryData data_;
102 mutable std::size_t minIndex_;
109 #endif //HPP_CONSTRAINTS_DISTANCE_BETWEEN_BODIES_HH
Definition: differentiable-function.hh:50
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:91
boost::shared_ptr< DistanceBetweenBodies > DistanceBetweenBodiesPtr_t
Definition: fwd.hh:103
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:51
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:87
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
virtual ~DistanceBetweenBodies()
Definition: distance-between-bodies.hh:68
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: distance-between-bodies.hh:40