17 #ifndef HPP_CONSTRAINTS_FUNCTION_DIFFERENCE_HH
18 # define HPP_CONSTRAINTS_FUNCTION_DIFFERENCE_HH
25 namespace constraints {
36 typedef shared_ptr<Difference>
Ptr_t;
45 inner_->value(l_, arg.segment (lsa_.first, lsa_.second));
46 inner_->value(r_, arg.segment (rsa_.first, rsa_.second));
53 J.middleCols (lsd_.first, lsd_.second),
54 arg.segment (lsa_.first, lsa_.second));
56 J.middleCols (rsd_.first, rsd_.second),
57 arg.segment (rsa_.first, rsa_.second));
58 J.middleCols (rsd_.first, rsd_.second) *= -1;
61 std::ostream&
print (std::ostream& os)
const;
Definition: differentiable-function.hh:53
Definition: difference.hh:34
Difference(const DifferentiableFunctionPtr_t &inner, const size_type &nArgs, const size_type &nDers, const segment_t &lInArgs, const segment_t &lInDers, const segment_t &rInArgs, const segment_t &rInDers)
void impl_jacobian(matrixOut_t J, vectorIn_t arg) const
Definition: difference.hh:50
const segment_t rsa_
Definition: difference.hh:65
void impl_compute(LiegroupElementRef y, vectorIn_t arg) const
User implementation of function evaluation.
Definition: difference.hh:43
const segment_t lsa_
Definition: difference.hh:64
DifferentiableFunctionPtr_t inner_
Definition: difference.hh:63
LiegroupElement l_
Definition: difference.hh:67
std::ostream & print(std::ostream &os) const
Display object in a stream.
shared_ptr< Difference > Ptr_t
Definition: difference.hh:36
#define HPP_CONSTRAINTS_LOCAL
Definition: config.hh:66
shared_ptr< Difference > DifferencePtr_t
Definition: difference.hh:27
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:53
shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
Definition: fwd.hh:101
std::pair< size_type, size_type > segment_t
Definition: fwd.hh:71
pinocchio::size_type size_type
Definition: fwd.hh:36
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:48
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:46
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:54
Definition: active-set-differentiable-function.hh:24