20 #ifndef HPP_CONSTRAINTS_CONFIGURATION_CONSTRAINT_HH
21 # define HPP_CONSTRAINTS_CONFIGURATION_CONSTRAINT_HH
23 # include <Eigen/Core>
29 namespace constraints {
35 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
41 std::vector <bool> mask = std::vector <bool> (0));
74 std::ostream&
print (std::ostream& o)
const;
76 typedef Eigen::Array <bool, Eigen::Dynamic, 1> EigenBoolVector_t;
Square distance between input configuration and reference configuration.
Definition: configuration-constraint.hh:33
static ConfigurationConstraintPtr_t create(const std::string &name, const DevicePtr_t &robot, ConfigurationIn_t goal, const vector_t &weights)
std::ostream & print(std::ostream &o) const
Display object in a stream.
virtual void impl_jacobian(matrixOut_t jacobian, ConfigurationIn_t arg) const
virtual ~ConfigurationConstraint()
Definition: configuration-constraint.hh:50
void weights(const vector_t &ws)
const vector_t & weights() const
Definition: configuration-constraint.hh:57
const LiegroupElement & goal() const
Definition: configuration-constraint.hh:61
ConfigurationConstraint(const std::string &name, const DevicePtr_t &robot, ConfigurationIn_t goal, const vector_t &weights)
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW ConfigurationConstraintPtr_t create(const std::string &name, const DevicePtr_t &robot, ConfigurationIn_t goal, std::vector< bool > mask=std::vector< bool >(0))
Return a shared pointer to a new instance.
virtual void impl_compute(LiegroupElementRef result, ConfigurationIn_t argument) const
Definition: differentiable-function.hh:53
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:53
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:97
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:94
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:46
shared_ptr< ConfigurationConstraint > ConfigurationConstraintPtr_t
Definition: fwd.hh:128
pinocchio::vector_t vector_t
Definition: fwd.hh:47
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:54
Definition: active-set-differentiable-function.hh:24