hpp::constraints Namespace Reference

Namespaces
	eigen
	explicit_
	function
	implicit
	lineSearch
	solver

Classes
class	ActiveSetDifferentiableFunction
class	AffineFunction
class	CalculusBase
class	CalculusBaseAbstract
class	ComBetweenFeet
class	ConfigurationConstraint
	Square distance between input configuration and reference configuration. More...
struct	ConstantFunction
class	ConvexShape
class	ConvexShapeContact
class	ConvexShapeContactComplement
struct	ConvexShapeData
class	CrossProduct
	Cross product of two expressions. More...
class	Difference
	Difference of two expressions. More...
class	DifferentiableFunction
class	DifferentiableFunctionSet
class	DistanceBetweenBodies
class	DistanceBetweenPointsInBodies
class	Explicit
class	ExplicitConstraintSet
class	Expression
	Base class for classes representing an operation. More...
class	FunctionExp
	Basic expression mapping a function as an expression. More...
class	GenericTransformation
class	Identity
class	Implicit
class	ImplicitConstraintSet
class	JointFrame
struct	JointTranspose
class	LockedJoint
class	Manipulability
	Differentiable function. More...
class	MatrixOfExpressions
	Matrix having Expression elements. More...
class	Point
class	PointCom
	Basic expression representing a COM. More...
class	PointInJoint
	Basic expression representing a point in a joint frame. More...
class	QPStaticStability
class	RelativeCom
class	RotationMultiply
	Multiplication of an expression by a rotation matrix. More...
class	ScalarMultiply
	Multiplication of an expression by a scalar. More...
class	ScalarProduct
	Scalar product of two expressions. More...
class	StaticStability
class	Sum
	Sum of two expressions. More...
class	SymbolicFunction
struct	Traits
struct	Traits< JointTranspose >
struct	Traits< pinocchio::Joint >
struct	Traits< value_type >
class	VectorInJoint
	Basic expression representing a vector in a joint frame. More...

Typedefs
typedef pinocchio::size_type	size_type
typedef pinocchio::value_type	value_type
typedef pinocchio::JointPtr_t	JointPtr_t
typedef pinocchio::JointConstPtr_t	JointConstPtr_t
typedef pinocchio::vector3_t	vector3_t
typedef pinocchio::matrix3_t	matrix3_t
typedef Eigen::Matrix< value_type, 6, 6 >	matrix6_t
typedef pinocchio::matrix_t	matrix_t
typedef Eigen::Ref< const matrix_t >	matrixIn_t
typedef Eigen::Ref< matrix_t >	matrixOut_t
typedef pinocchio::vector_t	vector_t
typedef pinocchio::vectorIn_t	vectorIn_t
typedef pinocchio::vectorOut_t	vectorOut_t
typedef pinocchio::ComJacobian_t	ComJacobian_t
typedef pinocchio::JointJacobian_t	JointJacobian_t
typedef pinocchio::Transform3f	Transform3f
typedef pinocchio::LiegroupElement	LiegroupElement
typedef pinocchio::LiegroupElementRef	LiegroupElementRef
typedef pinocchio::LiegroupSpace	LiegroupSpace
typedef pinocchio::LiegroupSpacePtr_t	LiegroupSpacePtr_t
typedef pinocchio::LiegroupSpaceConstPtr_t	LiegroupSpaceConstPtr_t
typedef Eigen::Matrix< value_type, 5, 1 >	vector5_t
typedef Eigen::Matrix< value_type, 6, 1 >	vector6_t
typedef Eigen::Matrix< value_type, 7, 1 >	vector7_t
typedef Eigen::Quaternion< value_type >	Quaternion_t
typedef pinocchio::ArrayXb	ArrayXb
typedef ArrayXb	bool_array_t
typedef std::pair< size_type, size_type >	segment_t
typedef std::vector< segment_t >	segments_t
typedef pinocchio::ObjectVector_t	ObjectVector_t
typedef pinocchio::CollisionObjectPtr_t	CollisionObjectPtr_t
typedef pinocchio::CollisionObjectConstPtr_t	CollisionObjectConstPtr_t
typedef pinocchio::Configuration_t	Configuration_t
typedef pinocchio::ConfigurationIn_t	ConfigurationIn_t
typedef pinocchio::ConfigurationOut_t	ConfigurationOut_t
typedef pinocchio::Device	Device
typedef pinocchio::DevicePtr_t	DevicePtr_t
typedef pinocchio::CenterOfMassComputation	CenterOfMassComputation
typedef pinocchio::CenterOfMassComputationPtr_t	CenterOfMassComputationPtr_t
typedef boost::shared_ptr< DifferentiableFunction >	DifferentiableFunctionPtr_t
typedef boost::shared_ptr< DifferentiableFunctionSet >	DifferentiableFunctionSetPtr_t
typedef DifferentiableFunctionSet DifferentiableFunctionStack	HPP_CONSTRAINTS_DEPRECATED
typedef boost::shared_ptr< ActiveSetDifferentiableFunction >	ActiveSetDifferentiableFunctionPtr_t
typedef boost::shared_ptr< DistanceBetweenBodies >	DistanceBetweenBodiesPtr_t
typedef boost::shared_ptr< DistanceBetweenPointsInBodies >	DistanceBetweenPointsInBodiesPtr_t
typedef boost::shared_ptr< RelativeCom >	RelativeComPtr_t
typedef boost::shared_ptr< ComBetweenFeet >	ComBetweenFeetPtr_t
typedef boost::shared_ptr< ConvexShapeContact >	ConvexShapeContactPtr_t
typedef boost::shared_ptr< ConvexShapeContactComplement >	ConvexShapeContactComplementPtr_t
typedef boost::shared_ptr< StaticStability >	StaticStabilityPtr_t
typedef boost::shared_ptr< QPStaticStability >	QPStaticStabilityPtr_t
typedef boost::shared_ptr< ConfigurationConstraint >	ConfigurationConstraintPtr_t
typedef boost::shared_ptr< Identity >	IdentityPtr_t
typedef boost::shared_ptr< AffineFunction >	AffineFunctionPtr_t
typedef boost::shared_ptr< ConstantFunction >	ConstantFunctionPtr_t
typedef HPP_CONSTRAINTS_DEPRECATED ConvexShapeContact	StaticStabilityGravity
typedef HPP_CONSTRAINTS_DEPRECATED ConvexShapeContactComplement	StaticStabilityGravityComplement
typedef HPP_CONSTRAINTS_DEPRECATED ConvexShapeContactPtr_t	StaticStabilityGravityPtr_t
typedef HPP_CONSTRAINTS_DEPRECATED ConvexShapeContactComplementPtr_t	StaticStabilityGravityComplementPtr_t
typedef GenericTransformation< PositionBit >	Position
typedef GenericTransformation< OrientationBit >	Orientation
typedef GenericTransformation< RelativeBit|PositionBit|OrientationBit >	RelativeTransformation
typedef GenericTransformation< RelativeBit|PositionBit >	RelativePosition
typedef GenericTransformation< RelativeBit|OrientationBit >	RelativeOrientation
typedef GenericTransformation< PositionBit|OrientationBit|OutputSE3Bit >	TransformationSE3
typedef GenericTransformation< RelativeBit|PositionBit|OrientationBit|OutputSE3Bit >	RelativeTransformationSE3
typedef GenericTransformation< OrientationBit|OutputSE3Bit >	OrientationSO3
typedef GenericTransformation< RelativeBit|OrientationBit|OutputSE3Bit >	RelativeOrientationSO3
typedef boost::shared_ptr< Position >	PositionPtr_t
typedef boost::shared_ptr< Orientation >	OrientationPtr_t
typedef boost::shared_ptr< Transformation >	TransformationPtr_t
typedef boost::shared_ptr< RelativePosition >	RelativePositionPtr_t
typedef boost::shared_ptr< RelativeOrientation >	RelativeOrientationPtr_t
typedef boost::shared_ptr< RelativeTransformation >	RelativeTransformationPtr_t
typedef Eigen::BlockIndex	BlockIndex
typedef boost::shared_ptr< Implicit >	ImplicitPtr_t
typedef boost::shared_ptr< const Implicit >	ImplicitConstPtr_t
typedef std::vector< constraints::ImplicitPtr_t >	NumericalConstraints_t
typedef boost::shared_ptr< ImplicitConstraintSet >	ImplicitConstraintSetPtr_t
typedef std::vector< ComparisonType >	ComparisonTypes_t
typedef boost::shared_ptr< Explicit >	ExplicitPtr_t
typedef boost::shared_ptr< const Explicit >	ExplicitConstPtr_t
typedef boost::shared_ptr< LockedJoint >	LockedJointPtr_t
typedef boost::shared_ptr< const LockedJoint >	LockedJointConstPtr_t
typedef std::vector< LockedJointPtr_t >	LockedJoints_t
typedef boost::shared_ptr< Manipulability >	ManipulabilityPtr_t
typedef eigen::matrix3_t	CrossMatrix
typedef Eigen::Matrix< value_type, 1, Eigen::Dynamic, Eigen::RowMajor >	RowJacobianMatrix
typedef Eigen::Matrix< value_type, 3, Eigen::Dynamic, Eigen::RowMajor >	JacobianMatrix

Enumerations
enum	ComparisonType { Equality, EqualToZero, Superior, Inferior }

Functions
void	closestPointToSegment (const vector3_t &P, const vector3_t &A, const vector3_t &v, vector3_t &B)
vector3_t	linePlaneIntersection (const vector3_t &A, const vector3_t &u, const vector3_t &P, const vector3_t &n)
std::ostream &	operator<< (std::ostream &os, const DifferentiableFunction &f)
	HPP_PREDEF_CLASS (DifferentiableFunction)
	HPP_PREDEF_CLASS (DifferentiableFunctionSet)
	HPP_PREDEF_CLASS (ActiveSetDifferentiableFunction)
	HPP_PREDEF_CLASS (DistanceBetweenBodies)
	HPP_PREDEF_CLASS (DistanceBetweenPointsInBodies)
	HPP_PREDEF_CLASS (RelativeCom)
	HPP_PREDEF_CLASS (ComBetweenFeet)
	HPP_PREDEF_CLASS (StaticStability)
	HPP_PREDEF_CLASS (QPStaticStability)
	HPP_PREDEF_CLASS (ConvexShapeContact)
	HPP_PREDEF_CLASS (ConvexShapeContactComplement)
	HPP_PREDEF_CLASS (ConfigurationConstraint)
	HPP_PREDEF_CLASS (Identity)
	HPP_PREDEF_CLASS (AffineFunction)
	HPP_PREDEF_CLASS (ConstantFunction)
	HPP_PREDEF_CLASS (Implicit)
	HPP_PREDEF_CLASS (ImplicitConstraintSet)
	HPP_PREDEF_CLASS (Explicit)
	HPP_PREDEF_CLASS (LockedJoint)
std::ostream &	operator<< (std::ostream &os, const LockedJoint &lj)
	HPP_PREDEF_CLASS (Manipulability)
template<typename SVD >
void	projectorOnSpan (const SVD &svd, Eigen::Ref< typename SVD::MatrixType > projector)
template<typename SVD >
void	projectorOnSpanOfInv (const SVD &svd, Eigen::Ref< typename SVD::MatrixType > projector)
template<typename SVD >
void	projectorOnKernel (const SVD &svd, Eigen::Ref< typename SVD::MatrixType > projector, const bool &computeFullV=false)
template<typename SVD >
void	projectorOnKernelOfInv (const SVD &svd, Eigen::Ref< typename SVD::MatrixType > projector, const bool &computeFullU=false)
template<typename Derived >
void	logSO3 (const matrix3_t &R, value_type &theta, Eigen::MatrixBase< Derived > const &result)
template<typename Derived >
void	JlogSO3 (const value_type &theta, const Eigen::MatrixBase< Derived > &log, matrix3_t &Jlog)
template<typename Derived >
void	logSE3 (const Transform3f &M, Eigen::MatrixBase< Derived > &result)
template<typename Derived >
void	JlogSE3 (const Transform3f &M, Eigen::MatrixBase< Derived > const &Jlog)
template<typename Derived1 , typename Derived2 >
void	matrixToQuat (const Eigen::MatrixBase< Derived1 > &M, Eigen::MatrixBase< Derived2 > const &q)
template<typename Derived >
void	se3ToConfig (const Transform3f &M, Eigen::MatrixBase< Derived > const &q)

Variables
DEVEL typedef GenericTransformation< PositionBit|OrientationBit >	Transformation

Typedef Documentation

ActiveSetDifferentiableFunctionPtr_t

typedef boost::shared_ptr<ActiveSetDifferentiableFunction> hpp::constraints::ActiveSetDifferentiableFunctionPtr_t

AffineFunctionPtr_t

typedef boost::shared_ptr<AffineFunction> hpp::constraints::AffineFunctionPtr_t

ArrayXb

typedef pinocchio::ArrayXb hpp::constraints::ArrayXb

BlockIndex

typedef Eigen::BlockIndex hpp::constraints::BlockIndex

bool_array_t

typedef ArrayXb hpp::constraints::bool_array_t

CenterOfMassComputation

typedef pinocchio::CenterOfMassComputation hpp::constraints::CenterOfMassComputation

CenterOfMassComputationPtr_t

typedef pinocchio::CenterOfMassComputationPtr_t hpp::constraints::CenterOfMassComputationPtr_t

CollisionObjectConstPtr_t

typedef pinocchio::CollisionObjectConstPtr_t hpp::constraints::CollisionObjectConstPtr_t

CollisionObjectPtr_t

typedef pinocchio::CollisionObjectPtr_t hpp::constraints::CollisionObjectPtr_t

ComBetweenFeetPtr_t

typedef boost::shared_ptr<ComBetweenFeet> hpp::constraints::ComBetweenFeetPtr_t

ComJacobian_t

typedef pinocchio::ComJacobian_t hpp::constraints::ComJacobian_t

ComparisonTypes_t

typedef std::vector<ComparisonType> hpp::constraints::ComparisonTypes_t

Configuration_t

typedef pinocchio::Configuration_t hpp::constraints::Configuration_t

ConfigurationConstraintPtr_t

typedef boost::shared_ptr<ConfigurationConstraint> hpp::constraints::ConfigurationConstraintPtr_t

ConfigurationIn_t

typedef pinocchio::ConfigurationIn_t hpp::constraints::ConfigurationIn_t

ConfigurationOut_t

typedef pinocchio::ConfigurationOut_t hpp::constraints::ConfigurationOut_t

ConstantFunctionPtr_t

typedef boost::shared_ptr<ConstantFunction> hpp::constraints::ConstantFunctionPtr_t

ConvexShapeContactComplementPtr_t

typedef boost::shared_ptr<ConvexShapeContactComplement> hpp::constraints::ConvexShapeContactComplementPtr_t

ConvexShapeContactPtr_t

typedef boost::shared_ptr<ConvexShapeContact> hpp::constraints::ConvexShapeContactPtr_t

Device

typedef pinocchio::Device hpp::constraints::Device

DevicePtr_t

typedef pinocchio::DevicePtr_t hpp::constraints::DevicePtr_t

DifferentiableFunctionPtr_t

typedef boost::shared_ptr<DifferentiableFunction> hpp::constraints::DifferentiableFunctionPtr_t

DifferentiableFunctionSetPtr_t

typedef boost::shared_ptr<DifferentiableFunctionSet> hpp::constraints::DifferentiableFunctionSetPtr_t

DistanceBetweenBodiesPtr_t

typedef boost::shared_ptr<DistanceBetweenBodies> hpp::constraints::DistanceBetweenBodiesPtr_t

DistanceBetweenPointsInBodiesPtr_t

typedef boost::shared_ptr<DistanceBetweenPointsInBodies> hpp::constraints::DistanceBetweenPointsInBodiesPtr_t

ExplicitConstPtr_t

typedef boost::shared_ptr<const Explicit> hpp::constraints::ExplicitConstPtr_t

ExplicitPtr_t

typedef boost::shared_ptr<Explicit> hpp::constraints::ExplicitPtr_t

HPP_CONSTRAINTS_DEPRECATED

typedef solver::BySubstitution HybridSolver hpp::constraints::HPP_CONSTRAINTS_DEPRECATED

IdentityPtr_t

typedef boost::shared_ptr<Identity> hpp::constraints::IdentityPtr_t

ImplicitConstPtr_t

typedef boost::shared_ptr<const Implicit> hpp::constraints::ImplicitConstPtr_t

ImplicitConstraintSetPtr_t

typedef boost::shared_ptr<ImplicitConstraintSet> hpp::constraints::ImplicitConstraintSetPtr_t

ImplicitPtr_t

typedef boost::shared_ptr<Implicit> hpp::constraints::ImplicitPtr_t

JointConstPtr_t

typedef pinocchio::JointConstPtr_t hpp::constraints::JointConstPtr_t

JointJacobian_t

typedef pinocchio::JointJacobian_t hpp::constraints::JointJacobian_t

JointPtr_t

typedef pinocchio::JointPtr_t hpp::constraints::JointPtr_t

LiegroupElement

typedef pinocchio::LiegroupElement hpp::constraints::LiegroupElement

LiegroupElementRef

typedef pinocchio::LiegroupElementRef hpp::constraints::LiegroupElementRef

LiegroupSpace

typedef pinocchio::LiegroupSpace hpp::constraints::LiegroupSpace

LiegroupSpaceConstPtr_t

typedef pinocchio::LiegroupSpaceConstPtr_t hpp::constraints::LiegroupSpaceConstPtr_t

LiegroupSpacePtr_t

typedef pinocchio::LiegroupSpacePtr_t hpp::constraints::LiegroupSpacePtr_t

LockedJointConstPtr_t

typedef boost::shared_ptr<const LockedJoint> hpp::constraints::LockedJointConstPtr_t

LockedJointPtr_t

typedef boost::shared_ptr<LockedJoint> hpp::constraints::LockedJointPtr_t

LockedJoints_t

typedef std::vector<LockedJointPtr_t> hpp::constraints::LockedJoints_t

ManipulabilityPtr_t

typedef boost::shared_ptr<Manipulability> hpp::constraints::ManipulabilityPtr_t

matrix3_t

typedef pinocchio::matrix3_t hpp::constraints::matrix3_t

matrix6_t

typedef Eigen::Matrix<value_type, 6, 6> hpp::constraints::matrix6_t

matrix_t

typedef pinocchio::matrix_t hpp::constraints::matrix_t

matrixIn_t

typedef Eigen::Ref<const matrix_t> hpp::constraints::matrixIn_t

matrixOut_t

typedef Eigen::Ref<matrix_t> hpp::constraints::matrixOut_t

NumericalConstraints_t

typedef std::vector< constraints::ImplicitPtr_t > hpp::constraints::NumericalConstraints_t

ObjectVector_t

typedef pinocchio::ObjectVector_t hpp::constraints::ObjectVector_t

Orientation

typedef GenericTransformation< OrientationBit > hpp::constraints::Orientation

OrientationPtr_t

typedef boost::shared_ptr<Orientation> hpp::constraints::OrientationPtr_t

OrientationSO3

typedef GenericTransformation< OrientationBit | OutputSE3Bit > hpp::constraints::OrientationSO3

Position

typedef GenericTransformation< PositionBit > hpp::constraints::Position

PositionPtr_t

typedef boost::shared_ptr<Position> hpp::constraints::PositionPtr_t

QPStaticStabilityPtr_t

typedef boost::shared_ptr<QPStaticStability> hpp::constraints::QPStaticStabilityPtr_t

Quaternion_t

typedef Eigen::Quaternion<value_type> hpp::constraints::Quaternion_t

RelativeComPtr_t

typedef boost::shared_ptr<RelativeCom> hpp::constraints::RelativeComPtr_t

RelativeOrientation

typedef GenericTransformation< RelativeBit | OrientationBit > hpp::constraints::RelativeOrientation

RelativeOrientationPtr_t

typedef boost::shared_ptr<RelativeOrientation> hpp::constraints::RelativeOrientationPtr_t

RelativeOrientationSO3

typedef GenericTransformation< RelativeBit | OrientationBit | OutputSE3Bit > hpp::constraints::RelativeOrientationSO3

RelativePosition

typedef GenericTransformation< RelativeBit | PositionBit > hpp::constraints::RelativePosition

RelativePositionPtr_t

typedef boost::shared_ptr<RelativePosition> hpp::constraints::RelativePositionPtr_t

RelativeTransformation

typedef GenericTransformation< RelativeBit | PositionBit | OrientationBit > hpp::constraints::RelativeTransformation

RelativeTransformationPtr_t

typedef boost::shared_ptr<RelativeTransformation> hpp::constraints::RelativeTransformationPtr_t

RelativeTransformationSE3

typedef GenericTransformation< RelativeBit | PositionBit | OrientationBit | OutputSE3Bit > hpp::constraints::RelativeTransformationSE3

segment_t

typedef std::pair<size_type, size_type> hpp::constraints::segment_t

segments_t

typedef std::vector< segment_t > hpp::constraints::segments_t

size_type

typedef pinocchio::size_type hpp::constraints::size_type

StaticStabilityGravity

typedef HPP_CONSTRAINTS_DEPRECATED ConvexShapeContact hpp::constraints::StaticStabilityGravity

StaticStabilityGravityComplement

typedef HPP_CONSTRAINTS_DEPRECATED ConvexShapeContactComplement hpp::constraints::StaticStabilityGravityComplement

StaticStabilityGravityComplementPtr_t

typedef HPP_CONSTRAINTS_DEPRECATED ConvexShapeContactComplementPtr_t hpp::constraints::StaticStabilityGravityComplementPtr_t

StaticStabilityGravityPtr_t

typedef HPP_CONSTRAINTS_DEPRECATED ConvexShapeContactPtr_t hpp::constraints::StaticStabilityGravityPtr_t

StaticStabilityPtr_t

typedef boost::shared_ptr<StaticStability> hpp::constraints::StaticStabilityPtr_t

Transform3f

typedef pinocchio::Transform3f hpp::constraints::Transform3f

TransformationPtr_t

typedef boost::shared_ptr<Transformation> hpp::constraints::TransformationPtr_t

TransformationSE3

typedef GenericTransformation< PositionBit | OrientationBit | OutputSE3Bit > hpp::constraints::TransformationSE3

value_type

typedef pinocchio::value_type hpp::constraints::value_type

vector3_t

typedef pinocchio::vector3_t hpp::constraints::vector3_t

vector5_t

typedef Eigen::Matrix<value_type, 5, 1> hpp::constraints::vector5_t

vector6_t

typedef Eigen::Matrix<value_type, 6, 1> hpp::constraints::vector6_t

vector7_t

typedef Eigen::Matrix<value_type, 7, 1> hpp::constraints::vector7_t

vector_t

typedef pinocchio::vector_t hpp::constraints::vector_t

vectorIn_t

typedef pinocchio::vectorIn_t hpp::constraints::vectorIn_t

vectorOut_t

typedef pinocchio::vectorOut_t hpp::constraints::vectorOut_t

Enumeration Type Documentation

ComparisonType

enum hpp::constraints::ComparisonType

Enumerator
Equality
EqualToZero
Superior
Inferior

Function Documentation

closestPointToSegment()

void hpp::constraints::closestPointToSegment ( const vector3_t &  P, const vector3_t &  A, const vector3_t &  v, vector3_t &  B  )

inline

Return the closest point to point P, on a segment line \( A + t*v, t \in [0,1] \).

Parameters

	P	PA where P is the point to
	A	the origin the segment line
	v	vector presenting the segment line
[out]	B	the closest point

HPP_PREDEF_CLASS() [1/20]

hpp::constraints::HPP_PREDEF_CLASS

(

Manipulability

)

HPP_PREDEF_CLASS() [2/20]

hpp::constraints::HPP_PREDEF_CLASS

(

DifferentiableFunction

)

HPP_PREDEF_CLASS() [3/20]

hpp::constraints::HPP_PREDEF_CLASS

(

DifferentiableFunctionSet

)

HPP_PREDEF_CLASS() [4/20]

hpp::constraints::HPP_PREDEF_CLASS

(

ActiveSetDifferentiableFunction

)

HPP_PREDEF_CLASS() [5/20]

hpp::constraints::HPP_PREDEF_CLASS

(

DistanceBetweenBodies

)

HPP_PREDEF_CLASS() [6/20]

hpp::constraints::HPP_PREDEF_CLASS

(

DistanceBetweenPointsInBodies

)

HPP_PREDEF_CLASS() [7/20]

hpp::constraints::HPP_PREDEF_CLASS

(

RelativeCom

)

HPP_PREDEF_CLASS() [8/20]

hpp::constraints::HPP_PREDEF_CLASS

(

ComBetweenFeet

)

HPP_PREDEF_CLASS() [9/20]

hpp::constraints::HPP_PREDEF_CLASS

(

StaticStability

)

HPP_PREDEF_CLASS() [10/20]

hpp::constraints::HPP_PREDEF_CLASS

(

QPStaticStability

)

HPP_PREDEF_CLASS() [11/20]

hpp::constraints::HPP_PREDEF_CLASS

(

ConvexShapeContact

)

HPP_PREDEF_CLASS() [12/20]

hpp::constraints::HPP_PREDEF_CLASS

(

ConvexShapeContactComplement

)

HPP_PREDEF_CLASS() [13/20]

hpp::constraints::HPP_PREDEF_CLASS

(

ConfigurationConstraint

)

HPP_PREDEF_CLASS() [14/20]

hpp::constraints::HPP_PREDEF_CLASS

(

Identity

)

HPP_PREDEF_CLASS() [15/20]

hpp::constraints::HPP_PREDEF_CLASS

(

AffineFunction

)

HPP_PREDEF_CLASS() [16/20]

hpp::constraints::HPP_PREDEF_CLASS

(

ConstantFunction

)

HPP_PREDEF_CLASS() [17/20]

hpp::constraints::HPP_PREDEF_CLASS

(

Implicit

)

HPP_PREDEF_CLASS() [18/20]

hpp::constraints::HPP_PREDEF_CLASS

(

ImplicitConstraintSet

)

HPP_PREDEF_CLASS() [19/20]

hpp::constraints::HPP_PREDEF_CLASS

(

Explicit

)

HPP_PREDEF_CLASS() [20/20]

hpp::constraints::HPP_PREDEF_CLASS

(

LockedJoint

)

linePlaneIntersection()

vector3_t hpp::constraints::linePlaneIntersection ( const vector3_t &  A, const vector3_t &  u, const vector3_t &  P, const vector3_t &  n  )

inline

Parameters

A,u	point and vector defining the line \( A + t*u \)
P,n	point and normal vector defining the plane \( Q \in plane \Rightleftarrow (P - Q) . n = 0 \)

Returns

the intesection point.

Warning

u and n are expected not to be orthogonal.

Todo:

make this function robust to orthogonal inputs.

operator<<()

std::ostream& hpp::constraints::operator<< ( std::ostream &  os, const LockedJoint &  lj  )

inline

projectorOnKernel()

template<typename SVD >

void hpp::constraints::projectorOnKernel	(	const SVD &	svd,
		Eigen::Ref< typename SVD::MatrixType >	projector,
		const bool &	computeFullV = false
	)

projectorOnKernelOfInv()

template<typename SVD >

void hpp::constraints::projectorOnKernelOfInv	(	const SVD &	svd,
		Eigen::Ref< typename SVD::MatrixType >	projector,
		const bool &	computeFullU = false
	)

projectorOnSpan()

template<typename SVD >

void hpp::constraints::projectorOnSpan	(	const SVD &	svd,
		Eigen::Ref< typename SVD::MatrixType >	projector
	)

projectorOnSpanOfInv()

template<typename SVD >

void hpp::constraints::projectorOnSpanOfInv	(	const SVD &	svd,
		Eigen::Ref< typename SVD::MatrixType >	projector
	)

Variable Documentation

Transformation

DEVEL typedef GenericTransformation< PositionBit | OrientationBit > hpp::constraints::Transformation