hpp::constraints Namespace Reference

Namespaces
	eigen
	explicit_
	function
	internal
	solver

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

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::Joint	Joint
typedef pinocchio::vector3_t	vector3_t
typedef pinocchio::matrix3_t	matrix3_t
typedef Eigen::Matrix< value_type, 6, 6 >	matrix6_t
typedef Eigen::Matrix< value_type, 8, 1 >	vector8_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::Transform3s	Transform3s
typedef pinocchio::LiegroupElement	LiegroupElement
typedef pinocchio::LiegroupElementRef	LiegroupElementRef
typedef pinocchio::LiegroupElementConstRef	LiegroupElementConstRef
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 std::vector< ConvexShape >	ConvexShapes_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::DeviceConstPtr_t	DeviceConstPtr_t
typedef pinocchio::CenterOfMassComputation	CenterOfMassComputation
typedef pinocchio::CenterOfMassComputationPtr_t	CenterOfMassComputationPtr_t
typedef shared_ptr< DifferentiableFunction >	DifferentiableFunctionPtr_t
typedef shared_ptr< DifferentiableFunctionSet >	DifferentiableFunctionSetPtr_t
typedef shared_ptr< ActiveSetDifferentiableFunction >	ActiveSetDifferentiableFunctionPtr_t
typedef shared_ptr< DistanceBetweenBodies >	DistanceBetweenBodiesPtr_t
typedef shared_ptr< DistanceBetweenPointsInBodies >	DistanceBetweenPointsInBodiesPtr_t
typedef shared_ptr< RelativeCom >	RelativeComPtr_t
typedef shared_ptr< ComBetweenFeet >	ComBetweenFeetPtr_t
typedef std::vector< vector3_t >	Shape_t
typedef std::pair< JointPtr_t, Shape_t >	JointAndShape_t
typedef std::vector< JointAndShape_t >	JointAndShapes_t
typedef shared_ptr< ConvexShapeContact >	ConvexShapeContactPtr_t
typedef shared_ptr< ConvexShapeContactComplement >	ConvexShapeContactComplementPtr_t
typedef shared_ptr< ConvexShapeContactHold >	ConvexShapeContactHoldPtr_t
typedef shared_ptr< StaticStability >	StaticStabilityPtr_t
typedef shared_ptr< QPStaticStability >	QPStaticStabilityPtr_t
typedef shared_ptr< ConfigurationConstraint >	ConfigurationConstraintPtr_t
typedef shared_ptr< Identity >	IdentityPtr_t
typedef shared_ptr< AffineFunction >	AffineFunctionPtr_t
typedef shared_ptr< ConstantFunction >	ConstantFunctionPtr_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|OutputR3xSO3Bit >	TransformationR3xSO3
typedef GenericTransformation< RelativeBit|PositionBit|OrientationBit|OutputR3xSO3Bit >	RelativeTransformationR3xSO3
typedef GenericTransformation< OrientationBit|OutputR3xSO3Bit >	OrientationSO3
typedef GenericTransformation< RelativeBit|OrientationBit|OutputR3xSO3Bit >	RelativeOrientationSO3
typedef shared_ptr< Position >	PositionPtr_t
typedef shared_ptr< Orientation >	OrientationPtr_t
typedef shared_ptr< Transformation >	TransformationPtr_t
typedef shared_ptr< RelativePosition >	RelativePositionPtr_t
typedef shared_ptr< RelativeOrientation >	RelativeOrientationPtr_t
typedef shared_ptr< RelativeTransformation >	RelativeTransformationPtr_t
typedef Eigen::BlockIndex	BlockIndex
typedef shared_ptr< Implicit >	ImplicitPtr_t
typedef shared_ptr< const Implicit >	ImplicitConstPtr_t
typedef std::vector< constraints::ImplicitPtr_t >	NumericalConstraints_t
typedef shared_ptr< ImplicitConstraintSet >	ImplicitConstraintSetPtr_t
typedef std::vector< ComparisonType >	ComparisonTypes_t
typedef shared_ptr< Explicit >	ExplicitPtr_t
typedef shared_ptr< const Explicit >	ExplicitConstPtr_t
typedef shared_ptr< LockedJoint >	LockedJointPtr_t
typedef shared_ptr< const LockedJoint >	LockedJointConstPtr_t
typedef std::vector< LockedJointPtr_t >	LockedJoints_t
typedef 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
internal::ReplicateCompType	operator* (const int &n, const ComparisonType &c)
ComparisonTypes_t	operator<< (const ComparisonType &a, const ComparisonType &b)
ComparisonTypes_t	operator<< (const internal::ReplicateCompType &a, const ComparisonType &b)
ComparisonTypes_t	operator<< (const ComparisonType &a, const internal::ReplicateCompType &b)
ComparisonTypes_t &	operator<< (ComparisonTypes_t &v, const ComparisonType &c)
ComparisonTypes_t &	operator<< (ComparisonTypes_t &v, const internal::ReplicateCompType &c)
ComparisonTypes_t	operator<< (const ComparisonTypes_t &v, const ComparisonType &c)
ComparisonTypes_t	operator<< (const ComparisonTypes_t &v, const internal::ReplicateCompType &c)
bool	operator== (const ComparisonTypes_t &v, const internal::ReplicateCompType &r)
std::ostream &	operator<< (std::ostream &os, const ComparisonTypes_t &comp)
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 (ConvexShapeContactHold)
	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 Transform3s &M, Eigen::MatrixBase< Derived > &result)
template<typename Derived >
void	JlogSE3 (const Transform3s &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 Transform3s &M, Eigen::MatrixBase< Derived > const &q)

Variables
DEVEL typedef GenericTransformation< PositionBit|OrientationBit >	Transformation

Typedef Documentation

ActiveSetDifferentiableFunctionPtr_t

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

AffineFunctionPtr_t

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

ConvexShapeContactComplementPtr_t

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

ConvexShapeContactHoldPtr_t

typedef shared_ptr<ConvexShapeContactHold> hpp::constraints::ConvexShapeContactHoldPtr_t

ConvexShapeContactPtr_t

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

ConvexShapes_t

typedef std::vector<ConvexShape> hpp::constraints::ConvexShapes_t

Device

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

DeviceConstPtr_t

typedef pinocchio::DeviceConstPtr_t hpp::constraints::DeviceConstPtr_t

DevicePtr_t

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

DifferentiableFunctionPtr_t

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

DifferentiableFunctionSetPtr_t

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

DistanceBetweenBodiesPtr_t

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

DistanceBetweenPointsInBodiesPtr_t

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

ExplicitConstPtr_t

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

ExplicitPtr_t

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

IdentityPtr_t

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

ImplicitConstPtr_t

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

ImplicitConstraintSetPtr_t

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

ImplicitPtr_t

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

Joint

typedef pinocchio::Joint hpp::constraints::Joint

JointAndShape_t

typedef std::pair<JointPtr_t, Shape_t> hpp::constraints::JointAndShape_t

JointAndShapes_t

typedef std::vector<JointAndShape_t> hpp::constraints::JointAndShapes_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

LiegroupElementConstRef

typedef pinocchio::LiegroupElementConstRef hpp::constraints::LiegroupElementConstRef

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

LockedJointPtr_t

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

LockedJoints_t

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

ManipulabilityPtr_t

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

OrientationSO3

typedef GenericTransformation<OrientationBit | OutputR3xSO3Bit> hpp::constraints::OrientationSO3

Position

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

PositionPtr_t

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

QPStaticStabilityPtr_t

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

Quaternion_t

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

RelativeComPtr_t

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

RelativeOrientation

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

RelativeOrientationPtr_t

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

RelativeOrientationSO3

typedef GenericTransformation<RelativeBit | OrientationBit | OutputR3xSO3Bit> hpp::constraints::RelativeOrientationSO3

RelativePosition

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

RelativePositionPtr_t

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

RelativeTransformation

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

RelativeTransformationPtr_t

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

RelativeTransformationR3xSO3

typedef GenericTransformation<RelativeBit | PositionBit | OrientationBit | OutputR3xSO3Bit> hpp::constraints::RelativeTransformationR3xSO3

segment_t

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

segments_t

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

Shape_t

typedef std::vector<vector3_t> hpp::constraints::Shape_t

Plane polygon represented by its vertices Used to model contact surfaces for manipulation applications

size_type

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

StaticStabilityPtr_t

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

Transform3s

typedef pinocchio::Transform3s hpp::constraints::Transform3s

TransformationPtr_t

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

TransformationR3xSO3

typedef GenericTransformation<PositionBit | OrientationBit | OutputR3xSO3Bit> hpp::constraints::TransformationR3xSO3

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

vector8_t

typedef Eigen::Matrix<value_type, 8, 1> hpp::constraints::vector8_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() [1/21]

hpp::constraints::HPP_PREDEF_CLASS

(

ActiveSetDifferentiableFunction

)

HPP_PREDEF_CLASS() [2/21]

hpp::constraints::HPP_PREDEF_CLASS

(

AffineFunction

)

HPP_PREDEF_CLASS() [3/21]

hpp::constraints::HPP_PREDEF_CLASS

(

ComBetweenFeet

)

HPP_PREDEF_CLASS() [4/21]

hpp::constraints::HPP_PREDEF_CLASS

(

ConfigurationConstraint

)

HPP_PREDEF_CLASS() [5/21]

hpp::constraints::HPP_PREDEF_CLASS

(

ConstantFunction

)

HPP_PREDEF_CLASS() [6/21]

hpp::constraints::HPP_PREDEF_CLASS

(

ConvexShapeContact

)

HPP_PREDEF_CLASS() [7/21]

hpp::constraints::HPP_PREDEF_CLASS

(

ConvexShapeContactComplement

)

HPP_PREDEF_CLASS() [8/21]

hpp::constraints::HPP_PREDEF_CLASS

(

ConvexShapeContactHold

)

HPP_PREDEF_CLASS() [9/21]

hpp::constraints::HPP_PREDEF_CLASS

(

DifferentiableFunction

)

HPP_PREDEF_CLASS() [10/21]

hpp::constraints::HPP_PREDEF_CLASS

(

DifferentiableFunctionSet

)

HPP_PREDEF_CLASS() [11/21]

hpp::constraints::HPP_PREDEF_CLASS

(

DistanceBetweenBodies

)

HPP_PREDEF_CLASS() [12/21]

hpp::constraints::HPP_PREDEF_CLASS

(

DistanceBetweenPointsInBodies

)

HPP_PREDEF_CLASS() [13/21]

hpp::constraints::HPP_PREDEF_CLASS

(

Explicit

)

HPP_PREDEF_CLASS() [14/21]

hpp::constraints::HPP_PREDEF_CLASS

(

Identity

)

HPP_PREDEF_CLASS() [15/21]

hpp::constraints::HPP_PREDEF_CLASS

(

Implicit

)

HPP_PREDEF_CLASS() [16/21]

hpp::constraints::HPP_PREDEF_CLASS

(

ImplicitConstraintSet

)

HPP_PREDEF_CLASS() [17/21]

hpp::constraints::HPP_PREDEF_CLASS

(

LockedJoint

)

HPP_PREDEF_CLASS() [18/21]

hpp::constraints::HPP_PREDEF_CLASS

(

Manipulability

)

HPP_PREDEF_CLASS() [19/21]

hpp::constraints::HPP_PREDEF_CLASS

(

QPStaticStability

)

HPP_PREDEF_CLASS() [20/21]

hpp::constraints::HPP_PREDEF_CLASS

(

RelativeCom

)

HPP_PREDEF_CLASS() [21/21]

hpp::constraints::HPP_PREDEF_CLASS

(

StaticStability

)

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*()

internal::ReplicateCompType hpp::constraints::operator* ( const int &  n, const ComparisonType &  c  )

inline

operator<<() [1/9]

ComparisonTypes_t& hpp::constraints::operator<< ( ComparisonTypes_t &  v, const ComparisonType &  c  )

inline

operator<<() [2/9]

ComparisonTypes_t& hpp::constraints::operator<< ( ComparisonTypes_t &  v, const internal::ReplicateCompType &  c  )

inline

operator<<() [3/9]

ComparisonTypes_t hpp::constraints::operator<< ( const ComparisonType &  a, const ComparisonType &  b  )

inline

operator<<() [4/9]

ComparisonTypes_t hpp::constraints::operator<< ( const ComparisonType &  a, const internal::ReplicateCompType &  b  )

inline

operator<<() [5/9]

ComparisonTypes_t hpp::constraints::operator<< ( const ComparisonTypes_t &  v, const ComparisonType &  c  )

inline

operator<<() [6/9]

ComparisonTypes_t hpp::constraints::operator<< ( const ComparisonTypes_t &  v, const internal::ReplicateCompType &  c  )

inline

operator<<() [7/9]

ComparisonTypes_t hpp::constraints::operator<< ( const internal::ReplicateCompType &  a, const ComparisonType &  b  )

inline

operator<<() [8/9]

std::ostream& hpp::constraints::operator<< ( std::ostream &  os, const ComparisonTypes_t &  comp  )

inline

operator<<() [9/9]

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

inline

operator==()

bool hpp::constraints::operator== ( const ComparisonTypes_t &  v, const internal::ReplicateCompType &  r  )

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