17 #ifndef HPP_CONSTRAINTS_STATIC_STABILITY_HH
18 # define HPP_CONSTRAINTS_STATIC_STABILITY_HH
30 namespace constraints {
38 static const Eigen::Matrix <value_type, 6, 1>
Gravity;
55 const std::string& name,
97 mutable matrix_t uDot_, uMinusDot_, vDot_;
Definition: differentiable-function.hh:53
Matrix having Expression elements.
Definition: symbolic-calculus.hh:925
Definition: static-stability.hh:35
static StaticStabilityPtr_t create(const DevicePtr_t &robot, const Contacts_t &contacts, const CenterOfMassComputationPtr_t &com)
MatrixOfExpressions & phi()
Definition: static-stability.hh:65
StaticStability(const std::string &name, const DevicePtr_t &robot, const Contacts_t &contacts, const CenterOfMassComputationPtr_t &com)
static const Eigen::Matrix< value_type, 6, 1 > Gravity
Definition: static-stability.hh:38
std::vector< Contact_t > Contacts_t
Definition: static-stability.hh:45
static StaticStabilityPtr_t create(const std::string &name, const DevicePtr_t &robot, const Contacts_t &contacts, const CenterOfMassComputationPtr_t &com)
static const value_type G
Definition: static-stability.hh:37
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
pinocchio::vector3_t vector3_t
Definition: fwd.hh:40
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:97
pinocchio::size_type size_type
Definition: fwd.hh:36
pinocchio::value_type value_type
Definition: fwd.hh:37
shared_ptr< StaticStability > StaticStabilityPtr_t
Definition: fwd.hh:125
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::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t
Definition: fwd.hh:99
Eigen::Ref< const matrix_t > matrixIn_t
Definition: fwd.hh:45
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:49
pinocchio::vector_t vector_t
Definition: fwd.hh:47
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:54
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:38
Definition: active-set-differentiable-function.hh:24