20 #ifndef HPP_CONSTRAINTS_DISTANCE_BETWEEN_POINTS_IN_BODIES_HH
21 # define HPP_CONSTRAINTS_DISTANCE_BETWEEN_POINTS_IN_BODIES_HH
23 # include <hpp/pinocchio/liegroup-element.hh>
27 namespace constraints {
40 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Definition: differentiable-function.hh:53
Definition: distance-between-points-in-bodies.hh:38
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW DistanceBetweenPointsInBodiesPtr_t create(const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint1, const JointPtr_t &joint2, const vector3_t &point1, const vector3_t &point2)
virtual void impl_compute(LiegroupElementRef result, ConfigurationIn_t argument) const
virtual void impl_jacobian(matrixOut_t jacobian, ConfigurationIn_t arg) const
virtual ~DistanceBetweenPointsInBodies()
Definition: distance-between-points-in-bodies.hh:67
DistanceBetweenPointsInBodies(const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint1, const vector3_t &point1, const vector3_t &point2)
DistanceBetweenPointsInBodies(const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint1, const JointPtr_t &joint2, const vector3_t &point1, const vector3_t &point2)
static DistanceBetweenPointsInBodiesPtr_t create(const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint1, const vector3_t &point1, const vector3_t &point2)
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:53
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:93
pinocchio::vector3_t vector3_t
Definition: fwd.hh:40
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:97
shared_ptr< DistanceBetweenPointsInBodies > DistanceBetweenPointsInBodiesPtr_t
Definition: fwd.hh:111
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:94
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:46
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:54
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:38
Definition: active-set-differentiable-function.hh:24