17 #ifndef HPP_CONSTRAINTS_CONVEX_SHAPE_CONTACT_HH
18 # define HPP_CONSTRAINTS_CONVEX_SHAPE_CONTACT_HH
30 namespace constraints {
84 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
123 return floorConvexShapes_;
128 return objectConvexShapes_;
146 std::ostream&
print (std::ostream& o)
const;
167 void computeRadius();
173 std::size_t& iobject, std::size_t& ifloor)
const;
183 bool selectConvexShapes (
const pinocchio::DeviceData& data,
184 std::size_t& iobject, std::size_t& ifloor)
190 mutable GenericTransformationModel<true> relativeTransformationModel_;
Definition: convex-shape.hh:65
Definition: differentiable-function.hh:53
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
pinocchio::vector3_t vector3_t
Definition: fwd.hh:40
Eigen::Matrix< value_type, 6, 1 > vector6_t
Definition: fwd.hh:64
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:97
std::list< JointAndShape_t > JointAndShapes_t
Definition: fwd.hh:118
shared_ptr< ConvexShapeContact > ConvexShapeContactPtr_t
Definition: fwd.hh:120
pinocchio::value_type value_type
Definition: fwd.hh:37
shared_ptr< ConvexShapeContactComplement > ConvexShapeContactComplementPtr_t
Definition: fwd.hh:122
shared_ptr< ConvexShapeContactHold > ConvexShapeContactHoldPtr_t
Definition: fwd.hh:124
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:48
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:94
pinocchio::matrix_t matrix_t
Definition: fwd.hh:44
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:46
pinocchio::LiegroupElementConstRef LiegroupElementConstRef
Definition: fwd.hh:55
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:54
std::vector< ConvexShape > ConvexShapes_t
Definition: fwd.hh:80
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:38
Definition: active-set-differentiable-function.hh:24