31#ifndef HPP_CONSTRAINTS_DISTANCE_BETWEEN_POINTS_IN_BODIES_HH
32#define HPP_CONSTRAINTS_DISTANCE_BETWEEN_POINTS_IN_BODIES_HH
35#include <hpp/pinocchio/liegroup-element.hh>
38namespace constraints {
50 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
114 if (!DifferentiableFunction::isEqual(other))
return false;
116 if (robot_ != castother.robot_)
return false;
117 if (joint1_ != castother.joint1_)
return false;
118 if (joint2_ != castother.joint2_)
return false;
119 if (point1_ != castother.point1_)
return false;
120 if (point2_ != castother.point2_)
return false;
Definition differentiable-function.hh:63
Definition distance-between-points-in-bodies.hh:48
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW DistanceBetweenPointsInBodiesPtr_t create(const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint1, const JointPtr_t &joint2, const vector3_t &point1, const vector3_t &point2)
virtual void impl_compute(LiegroupElementRef result, ConfigurationIn_t argument) const
virtual void impl_jacobian(matrixOut_t jacobian, ConfigurationIn_t arg) const
virtual ~DistanceBetweenPointsInBodies()
Definition distance-between-points-in-bodies.hh:80
DistanceBetweenPointsInBodies(const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint1, const vector3_t &point1, const vector3_t &point2)
DistanceBetweenPointsInBodies(const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint1, const JointPtr_t &joint2, const vector3_t &point1, const vector3_t &point2)
static DistanceBetweenPointsInBodiesPtr_t create(const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint1, const vector3_t &point1, const vector3_t &point2)
bool isEqual(const DifferentiableFunction &other) const
Definition distance-between-points-in-bodies.hh:111
#define HPP_CONSTRAINTS_DLLAPI
Definition config.hh:88
pinocchio::LiegroupElement LiegroupElement
Definition fwd.hh:65
pinocchio::Configuration_t Configuration_t
Definition fwd.hh:105
pinocchio::vector3_t vector3_t
Definition fwd.hh:52
pinocchio::DevicePtr_t DevicePtr_t
Definition fwd.hh:109
shared_ptr< DistanceBetweenPointsInBodies > DistanceBetweenPointsInBodiesPtr_t
Definition fwd.hh:119
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition fwd.hh:106
Eigen::Ref< matrix_t > matrixOut_t
Definition fwd.hh:58
pinocchio::LiegroupElementRef LiegroupElementRef
Definition fwd.hh:66
pinocchio::JointPtr_t JointPtr_t
Definition fwd.hh:49
Definition active-set-differentiable-function.hh:36