20 #ifndef HPP_CONSTRAINTS_DISTANCE_BETWEEN_BODIES_HH
21 # define HPP_CONSTRAINTS_DISTANCE_BETWEEN_BODIES_HH
23 # include <pinocchio/multibody/geometry.hpp>
25 # include <hpp/pinocchio/collision-object.hh>
26 # include <hpp/pinocchio/liegroup-element.hh>
32 namespace constraints {
44 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
66 const std::vector<CollisionObjectPtr_t>& objects);
89 const std::vector<CollisionObjectPtr_t>& objects);
96 typedef ::pinocchio::GeometryData GeometryData;
101 mutable GeometryData data_;
102 mutable std::size_t minIndex_;
Definition: differentiable-function.hh:53
Definition: distance-between-bodies.hh:42
static DistanceBetweenBodiesPtr_t create(const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint, const std::vector< CollisionObjectPtr_t > &objects)
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW DistanceBetweenBodiesPtr_t create(const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint1, const JointPtr_t &joint2)
DistanceBetweenBodies(const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint, const std::vector< CollisionObjectPtr_t > &objects)
DistanceBetweenBodies(const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint1, const JointPtr_t &joint2)
virtual ~DistanceBetweenBodies()
Definition: distance-between-bodies.hh:68
virtual void impl_jacobian(matrixOut_t jacobian, ConfigurationIn_t arg) const
virtual void impl_compute(LiegroupElementRef result, ConfigurationIn_t argument) const
#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::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< DistanceBetweenBodies > DistanceBetweenBodiesPtr_t
Definition: fwd.hh:109
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:54
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:38
Definition: active-set-differentiable-function.hh:24