18 #ifndef HPP_CONSTRAINTS_MANIPULABILITY_HH
19 # define HPP_CONSTRAINTS_MANIPULABILITY_HH
27 namespace constraints {
Definition: differentiable-function.hh:53
Differentiable function.
Definition: manipulability.hh:36
void impl_compute(LiegroupElementRef result, vectorIn_t argument) const
User implementation of function evaluation.
void impl_jacobian(matrixOut_t jacobian, vectorIn_t arg) const
virtual ~Manipulability()
Definition: manipulability.hh:38
static ManipulabilityPtr_t create(DifferentiableFunctionPtr_t function, DevicePtr_t robot, std::string name)
Definition: manipulability.hh:40
Manipulability(DifferentiableFunctionPtr_t function, DevicePtr_t robot, std::string name)
Concrete class constructor should call this constructor.
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
HPP_PREDEF_CLASS(DifferentiableFunction)
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:97
shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
Definition: fwd.hh:101
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:48
shared_ptr< Manipulability > ManipulabilityPtr_t
Definition: manipulability.hh:29
pinocchio::matrix_t matrix_t
Definition: fwd.hh:44
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:46
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:54
Definition: active-set-differentiable-function.hh:24