29 #ifndef HPP_CONSTRAINTS_IMPLICIT_HH
30 #define HPP_CONSTRAINTS_IMPLICIT_HH
36 #include <hpp/pinocchio/liegroup-element.hh>
37 #include <hpp/util/serialization-fwd.hh>
40 namespace constraints {
134 std::vector<bool> mask = std::vector<bool>());
250 return equalityIndices_;
276 virtual std::pair<JointConstPtr_t, JointConstPtr_t>
290 std::vector<bool> mask);
301 void init(
const ImplicitWkPtr_t& weak) { weak_ = weak; }
306 void computeIndices();
307 void computeActiveRows();
313 std::vector<bool> mask_;
316 std::vector<std::size_t> inequalityIndices_;
318 ImplicitWkPtr_t weak_;
Definition: differentiable-function.hh:63
Definition: implicit-constraint-set.hh:45
Definition: implicit.hh:124
static ImplicitPtr_t create(const DifferentiableFunctionPtr_t &func, ComparisonTypes_t comp, std::vector< bool > mask=std::vector< bool >())
bool checkRightHandSide(LiegroupElementConstRef rhs) const
const DifferentiableFunctionPtr_t & functionPtr() const
Return a reference to function .
Definition: implicit.hh:262
void rightHandSideFromConfig(ConfigurationIn_t config) HPP_CONSTRAINTS_DEPRECATED
void rightHandSideFromConfig(ConfigurationIn_t config, LiegroupElementRef rhs)
virtual std::pair< JointConstPtr_t, JointConstPtr_t > doesConstrainRelPoseBetween(DeviceConstPtr_t robot) const
void setInactiveRowsToZero(vectorOut_t error) const
virtual ~Implicit()
Definition: implicit.hh:139
const ComparisonTypes_t & comparisonType() const
Return the ComparisonType.
void rightHandSide(vectorIn_t rhs) HPP_CONSTRAINTS_DEPRECATED
virtual bool isEqual(const Implicit &other, bool swapAndTest) const
bool operator==(const Implicit &other) const
Operator equality.
virtual ImplicitPtr_t copy() const
Copy object and return shared pointer to copy.
const Eigen::RowBlockIndices & equalityIndices() const
Get indices of constraint coordinates that are equality.
Definition: implicit.hh:249
Implicit(const Implicit &other)
Copy constructor.
void comparisonType(const ComparisonTypes_t &comp)
Set the comparison type.
vectorIn_t rightHandSideAt(const value_type &s)
vectorIn_t rightHandSide() const HPP_CONSTRAINTS_DEPRECATED
Implicit()
Definition: implicit.hh:324
Implicit(const DifferentiableFunctionPtr_t &function, ComparisonTypes_t comp, std::vector< bool > mask)
void init(const ImplicitWkPtr_t &weak)
Definition: implicit.hh:301
bool checkAllRowsActive() const
Check if all rows are active (no inactive rows)
Definition: implicit.hh:246
const segments_t & activeRows() const
Definition: implicit.hh:243
static ImplicitPtr_t createCopy(const ImplicitPtr_t &other)
Create a copy and return shared pointer.
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:64
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:65
std::vector< ComparisonType > ComparisonTypes_t
Definition: fwd.hh:182
pinocchio::DeviceConstPtr_t DeviceConstPtr_t
Definition: fwd.hh:110
shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
Definition: fwd.hh:113
shared_ptr< Implicit > ImplicitPtr_t
Definition: fwd.hh:175
DifferentiableFunctionSet DifferentiableFunctionStack HPP_CONSTRAINTS_DEPRECATED
Definition: fwd.hh:116
pinocchio::size_type size_type
Definition: fwd.hh:47
pinocchio::value_type value_type
Definition: fwd.hh:48
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:60
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:106
std::vector< segment_t > segments_t
Definition: fwd.hh:84
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:61
pinocchio::vector_t vector_t
Definition: fwd.hh:59
pinocchio::LiegroupElementConstRef LiegroupElementConstRef
Definition: fwd.hh:67
pinocchio::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:66
Definition: active-set-differentiable-function.hh:36