hpp-constraints
5.1.0
Definition of basic geometric constraints for motion planning
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29 #ifndef HPP_CONSTRAINTS_EXPLICIT_CONVEX_SHAPE_CONTACT_HH
30 #define HPP_CONSTRAINTS_EXPLICIT_CONVEX_SHAPE_CONTACT_HH
36 namespace constraints {
40 typedef std::tuple<ImplicitPtr_t, ImplicitPtr_t, ExplicitPtr_t>
Constraints_t;
98 virtual void jacobianOutputValue(
vectorIn_t qin,
117 void init(ConvexShapeContactWkPtr_t weak);
122 std::vector<RelativePosePtr_t> pose_;
124 std::size_t nObjSurf_;
126 ConvexShapeContactWkPtr_t weak_;
131 #endif // HPP_CONSTRAINTS_EXPLICIT_CONVEX_SHAPE_CONTACT_HH
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:109
shared_ptr< ConvexShapeContact > ConvexShapeContactPtr_t
Definition: fwd.hh:201
pinocchio::LiegroupElementConstRef LiegroupElementConstRef
Definition: fwd.hh:67
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:58
Definition: active-set-differentiable-function.hh:36
std::vector< JointAndShape_t > JointAndShapes_t
Definition: fwd.hh:126
shared_ptr< Implicit > ImplicitPtr_t
Definition: fwd.hh:173
pinocchio::value_type value_type
Definition: fwd.hh:48
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:60
Definition: explicit.hh:132
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:88
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:66