Namespaces
	eigen

	explicit_

	function

	implicit

	lineSearch

	solver

Classes
class	ActiveSetDifferentiableFunction
	Handle bounds on input variables of a differentiable function. More...

class	AffineFunction
	Affine function \( f(q) = J * q + b \). More...

class	CalculusBase
	Main abstract class. More...

class	CalculusBaseAbstract
	Abstract class defining a basic common interface. More...

class	ComBetweenFeet
	Constraint on the relative position of the center of mass. More...

class	ConfigurationConstraint
	Square distance between input configuration and reference configuration. More...

struct	ConstantFunction
	Constant function \( f(q) = C \). More...

class	ConvexShape

class	ConvexShapeContact
	The function returns a relative transformation between the two "closest" convex shapes it contains. More...

class	ConvexShapeContactComplement
	Complement to full transformation constraint of ConvexShapeContact. More...

struct	ConvexShapeData

class	CrossProduct
	Cross product of two expressions. More...

class	Difference
	Difference of two expressions. More...

class	DifferentiableFunction
	Differentiable function. More...

class	DifferentiableFunctionSet
	Set of differentiable functions. More...

class	DistanceBetweenBodies
	Distance between two sets of objects. More...

class	DistanceBetweenPointsInBodies
	Distance between two sets of objects. More...

class	Explicit
	Explicit numerical constraint. More...

class	ExplicitConstraintSet
	Set of explicit constraints. More...

class	Expression
	Base class for classes representing an operation. More...

class	FunctionExp
	Basic expression mapping a function as an expression. More...

class	GenericTransformation
	GenericTransformation class encapsulates 6 possible differentiable functions: Position, Orientation, Transformation and their relative versions RelativePosition, RelativeOrientation, RelativeTransformation. More...

class	Identity
	Identity function \( q_{out} = q_{in} \). More...

class	Implicit
	This class represents a parameterizable numerical constraint that compares the output of a function \(h\) to a right hand side vector. More...

class	ImplicitConstraintSet
	Set of implicit constraints. More...

class	JointFrame

struct	JointTranspose

class	LockedJoint
	Implementation of constraint specific to locked joint. More...

class	Manipulability
	Differentiable function. More...

class	MatrixOfExpressions
	Matrix having Expression elements. More...

class	Point
	Basic expression representing a static point. More...

class	PointCom
	Basic expression representing a COM. More...

class	PointInJoint
	Basic expression representing a point in a joint frame. More...

class	QPStaticStability

class	RelativeCom
	Constraint on the relative position of the center of mass. More...

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

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 >
static Eigen::Ref< const typename SVD::MatrixUType >	getU1 (const SVD &svd, const size_type &rank)

template<typename SVD >
static Eigen::Ref< const typename SVD::MatrixUType >	getU2 (const SVD &svd, const size_type &rank)

template<typename SVD >
static Eigen::Ref< const typename SVD::MatrixUType >	getV1 (const SVD &svd, const size_type &rank)

template<typename SVD >
static Eigen::Ref< const typename SVD::MatrixUType >	getV2 (const SVD &svd, const size_type &rank)

template<typename SVD >
static void	pseudoInverse (const SVD &svd, Eigen::Ref< typename SVD::MatrixType > pinvmat)

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 VectorType , typename MatrixType >
static void	computeCrossMatrix (const VectorType &v, MatrixType &m)

template<typename Derived >
void	logSO3 (const matrix3_t &R, value_type &theta, Eigen::MatrixBase< Derived > const &result)
	Compute log of rotation matrix as a 3d vector. More...

template<typename Derived >
void	JlogSO3 (const value_type &theta, const Eigen::MatrixBase< Derived > &log, matrix3_t &Jlog)
	Compute jacobian of function log of rotation matrix in SO(3) More...

template<typename Derived >
void	logSE3 (const Transform3f &M, Eigen::MatrixBase< Derived > &result)
	Compute log of rigid-body transform. More...

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

◆ computeCrossMatrix()

template<typename VectorType , typename MatrixType >

static void hpp::constraints::computeCrossMatrix	(	const VectorType &	v,
		MatrixType &	m
	)

static

References logSO3().

Referenced by hpp::constraints::PointInJoint::computeCrossRXl(), hpp::constraints::VectorInJoint::computeCrossRXl(), hpp::constraints::CalculusBase< ScalarProduct< LhsValue, RhsValue >, Eigen::Matrix< value_type, 1, 1 >, RowJacobianMatrix >::computeCrossValue(), JlogSE3(), and logSE3().

◆ getU1()

template<typename SVD >

static Eigen::Ref<const typename SVD::MatrixUType> hpp::constraints::getU1	(	const SVD &	svd,
		const size_type &	rank
	)

static

◆ getU2()

template<typename SVD >

static Eigen::Ref<const typename SVD::MatrixUType> hpp::constraints::getU2	(	const SVD &	svd,
		const size_type &	rank
	)

static

◆ getV1()

template<typename SVD >

static Eigen::Ref<const typename SVD::MatrixUType> hpp::constraints::getV1	(	const SVD &	svd,
		const size_type &	rank
	)

static

◆ getV2()

template<typename SVD >

static Eigen::Ref<const typename SVD::MatrixUType> hpp::constraints::getV2	(	const SVD &	svd,
		const size_type &	rank
	)

static

◆ 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.

References Eigen::assert().

Referenced by hpp::constraints::ConvexShapeData::intersection(), and hpp::constraints::ConvexShape::intersectionLocal().

◆ operator<<()

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

inline

References hpp::constraints::LockedJoint::print().

◆ 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
	)

◆ pseudoInverse()

template<typename SVD >

static void hpp::constraints::pseudoInverse	(	const SVD &	svd,
		Eigen::Ref< typename SVD::MatrixType >	pinvmat
	)

static

Variable Documentation

◆ Transformation

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

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ ActiveSetDifferentiableFunctionPtr_t

◆ AffineFunctionPtr_t

◆ ArrayXb

◆ BlockIndex

◆ bool_array_t

◆ CenterOfMassComputation

◆ CenterOfMassComputationPtr_t

◆ CollisionObjectConstPtr_t

◆ CollisionObjectPtr_t

◆ ComBetweenFeetPtr_t

◆ ComJacobian_t

◆ ComparisonTypes_t

◆ Configuration_t

◆ ConfigurationConstraintPtr_t

◆ ConfigurationIn_t

◆ ConfigurationOut_t

◆ ConstantFunctionPtr_t

◆ ConvexShapeContactComplementPtr_t

◆ ConvexShapeContactPtr_t

◆ Device

◆ DevicePtr_t

◆ DifferentiableFunctionPtr_t

◆ DifferentiableFunctionSetPtr_t

◆ DistanceBetweenBodiesPtr_t

◆ DistanceBetweenPointsInBodiesPtr_t

◆ ExplicitConstPtr_t

◆ ExplicitPtr_t

◆ HPP_CONSTRAINTS_DEPRECATED

◆ IdentityPtr_t

◆ ImplicitConstPtr_t

◆ ImplicitConstraintSetPtr_t

◆ ImplicitPtr_t

◆ JointConstPtr_t

◆ JointJacobian_t

◆ JointPtr_t

◆ LiegroupElement

◆ LiegroupElementRef

◆ LiegroupSpace

◆ LiegroupSpaceConstPtr_t

◆ LiegroupSpacePtr_t

◆ LockedJointConstPtr_t

◆ LockedJointPtr_t

◆ LockedJoints_t

◆ ManipulabilityPtr_t

◆ matrix3_t

◆ matrix6_t

◆ matrix_t

◆ matrixIn_t

◆ matrixOut_t

◆ NumericalConstraints_t

◆ ObjectVector_t

◆ Orientation

◆ OrientationPtr_t

◆ OrientationSO3

◆ Position

◆ PositionPtr_t

◆ QPStaticStabilityPtr_t

◆ Quaternion_t

◆ RelativeComPtr_t

◆ RelativeOrientation

◆ RelativeOrientationPtr_t

◆ RelativeOrientationSO3

◆ RelativePosition

◆ RelativePositionPtr_t

◆ RelativeTransformation

◆ RelativeTransformationPtr_t

◆ RelativeTransformationSE3

◆ segment_t

◆ segments_t

◆ size_type

◆ StaticStabilityGravity

◆ StaticStabilityGravityComplement

◆ StaticStabilityGravityComplementPtr_t