18 #ifndef HPP_CONSTRAINTS_LOCKED_JOINT_HH
19 # define HPP_CONSTRAINTS_LOCKED_JOINT_HH
21 # include <hpp/pinocchio/joint.hh>
26 namespace constraints {
129 std::ostream&
print (std::ostream& os)
const;
160 std::string jointName_;
164 LockedJointWkPtr_t weak_;
173 return lj.
print (os);
Definition: explicit.hh:119
Definition: implicit.hh:114
Definition: locked-joint.hh:57
LockedJoint(const JointPtr_t &joint, const size_type index, vectorIn_t value)
const JointPtr_t & joint()
Return shared pointer to joint.
Definition: locked-joint.hh:120
size_type rankInConfiguration() const
Get index of locked degree of freedom in robot configuration vector.
static LockedJointPtr_t createCopy(LockedJointConstPtr_t other)
void value(vectorIn_t value)
Set the value of the locked joint.
LockedJoint(const DevicePtr_t &robot, const size_type index, vectorIn_t value)
static LockedJointPtr_t create(const JointPtr_t &joint, const LiegroupElement &value)
virtual ImplicitPtr_t copy() const
Copy object and return shared pointer to copy.
void init(const LockedJointPtr_t &self)
std::ostream & print(std::ostream &os) const
Print object in a stream.
LockedJoint(const JointPtr_t &joint, const LiegroupElement &value)
void rightHandSideFromConfig(ConfigurationIn_t config) HPP_CONSTRAINTS_DEPRECATED
size_type numberDof() const
Get number of degrees of freedom of the joint.
virtual bool isEqual(const Implicit &other, bool swapAndTest) const
size_type rankInVelocity() const
Get index of locked degree of freedom in robot velocity vector.
static LockedJointPtr_t create(const JointPtr_t &joint, const size_type index, vectorIn_t value)
LockedJoint(const LockedJoint &other)
Copy constructor.
vectorIn_t value() const
Get the value of the locked joint.
const std::string & jointName() const
Return the joint name.
Definition: locked-joint.hh:125
size_type configSize() const
Get the configuration size of the joint.
static LockedJointPtr_t create(const DevicePtr_t &dev, const size_type index, vectorIn_t value)
const LiegroupSpacePtr_t & configSpace() const
Get configuration space of locked joint.
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:53
shared_ptr< const LockedJoint > LockedJointConstPtr_t
Definition: fwd.hh:203
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:97
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:57
ComparisonTypes_t operator<<(const ComparisonType &a, const ComparisonType &b)
Definition: comparison-types.hh:54
shared_ptr< Implicit > ImplicitPtr_t
Definition: fwd.hh:163
DifferentiableFunctionSet DifferentiableFunctionStack HPP_CONSTRAINTS_DEPRECATED
Definition: fwd.hh:105
pinocchio::size_type size_type
Definition: fwd.hh:36
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:48
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:94
shared_ptr< LockedJoint > LockedJointPtr_t
Definition: fwd.hh:202
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:38
Definition: active-set-differentiable-function.hh:24