| Directory: | ./ |
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| File: | include/hpp/constraints/generic-transformation.hh |
| Date: | 2025-05-05 12:19:30 |
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| 1 | // | ||
| 2 | // Copyright (c) 2016 CNRS | ||
| 3 | // Authors: Joseph Mirabel | ||
| 4 | // | ||
| 5 | // | ||
| 6 | |||
| 7 | // Redistribution and use in source and binary forms, with or without | ||
| 8 | // modification, are permitted provided that the following conditions are | ||
| 9 | // met: | ||
| 10 | // | ||
| 11 | // 1. Redistributions of source code must retain the above copyright | ||
| 12 | // notice, this list of conditions and the following disclaimer. | ||
| 13 | // | ||
| 14 | // 2. Redistributions in binary form must reproduce the above copyright | ||
| 15 | // notice, this list of conditions and the following disclaimer in the | ||
| 16 | // documentation and/or other materials provided with the distribution. | ||
| 17 | // | ||
| 18 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 19 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 20 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
| 21 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
| 22 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
| 23 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
| 24 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
| 25 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
| 26 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 27 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| 28 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
| 29 | // DAMAGE. | ||
| 30 | |||
| 31 | #ifndef HPP_CONSTRAINTS_GENERIC_TRANSFORMATION_HH | ||
| 32 | #define HPP_CONSTRAINTS_GENERIC_TRANSFORMATION_HH | ||
| 33 | |||
| 34 | #include <hpp/constraints/config.hh> | ||
| 35 | #include <hpp/constraints/differentiable-function.hh> | ||
| 36 | #include <hpp/constraints/fwd.hh> | ||
| 37 | #include <hpp/constraints/matrix-view.hh> | ||
| 38 | #include <hpp/pinocchio/joint.hh> | ||
| 39 | #include <hpp/util/serialization-fwd.hh> | ||
| 40 | #include <pinocchio/spatial/se3.hpp> | ||
| 41 | |||
| 42 | namespace hpp { | ||
| 43 | namespace constraints { | ||
| 44 | /// \cond DEVEL | ||
| 45 | template <bool rel> | ||
| 46 | struct GenericTransformationModel { | ||
| 47 | JointConstPtr_t joint2; | ||
| 48 | bool R1isID, R2isID, t1isZero, t2isZero; | ||
| 49 | Transform3s F1inJ1, F2inJ2; | ||
| 50 | bool fullPos, fullOri; | ||
| 51 | size_type rowOri; | ||
| 52 | const size_type cols; | ||
| 53 | |||
| 54 | 112 | inline JointConstPtr_t getJoint1() const { return JointConstPtr_t(); } | |
| 55 | 38 | inline void setJoint1(const JointConstPtr_t&) {} | |
| 56 | 112 | GenericTransformationModel(const size_type nCols) | |
| 57 | 112 | : joint2(), | |
| 58 | 112 | R1isID(true), | |
| 59 | 112 | R2isID(true), | |
| 60 | 112 | t1isZero(true), | |
| 61 | 112 | t2isZero(true), | |
| 62 | 112 | fullPos(false), | |
| 63 | 112 | fullOri(false), | |
| 64 |
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112 | cols(nCols) { |
| 65 |
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112 | F1inJ1.setIdentity(); |
| 66 |
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112 | F2inJ2.setIdentity(); |
| 67 | 112 | } | |
| 68 | 38650 | void checkIsIdentity1() { | |
| 69 |
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38650 | R1isID = F1inJ1.rotation().isIdentity(); |
| 70 |
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38650 | t1isZero = F1inJ1.translation().isZero(); |
| 71 | 38650 | } | |
| 72 | 38645 | void checkIsIdentity2() { | |
| 73 |
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38645 | R2isID = F2inJ2.rotation().isIdentity(); |
| 74 |
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38649 | t2isZero = F2inJ2.translation().isZero(); |
| 75 | 38651 | } | |
| 76 | }; | ||
| 77 | template <> | ||
| 78 | struct GenericTransformationModel<true> : GenericTransformationModel<false> { | ||
| 79 | JointConstPtr_t joint1; | ||
| 80 | 163222 | inline JointConstPtr_t getJoint1() const { return joint1; } | |
| 81 | void setJoint1(const JointConstPtr_t& j); | ||
| 82 | 69 | GenericTransformationModel(const size_type nCols) | |
| 83 | 69 | : GenericTransformationModel<false>(nCols), joint1() {} | |
| 84 | }; | ||
| 85 | /// \endcond DEVEL | ||
| 86 | |||
| 87 | /// \addtogroup constraints | ||
| 88 | /// \{ | ||
| 89 | |||
| 90 | /** GenericTransformation class encapsulates 10 possible differentiable | ||
| 91 | * functions: Position, Orientation, OrientationSO3, Transformation, | ||
| 92 | * TransformationR3xSO3 and their relative | ||
| 93 | * versions RelativeTransformationR3xSO3, RelativePosition, | ||
| 94 | * RelativeOrientation, RelativeOrientationSO3, RelativeTransformation. | ||
| 95 | * | ||
| 96 | * These functions compute the position of frame | ||
| 97 | * GenericTransformation::frame2InJoint2 in joint | ||
| 98 | * GenericTransformation::joint2 frame, in the frame | ||
| 99 | * GenericTransformation::frame1InJoint1 in GenericTransformation::joint1 | ||
| 100 | * frame. For absolute functions, GenericTransformation::joint1 is | ||
| 101 | * NULL and joint1 frame is the world frame. | ||
| 102 | * | ||
| 103 | * The value of the RelativeTransformation function is | ||
| 104 | * a 6-dimensional | ||
| 105 | * vector. The 3 first coordinates are the position of the center of the | ||
| 106 | * second frame expressed in the first frame. | ||
| 107 | * The 3 last coordinates are the log of the orientation of frame 2 in | ||
| 108 | * frame 1. | ||
| 109 | * The values of RelativePosition and RelativeOrientation are respectively | ||
| 110 | * the 3 first and the 3 last components of the above 6 dimensional vector. | ||
| 111 | * | ||
| 112 | * \f{equation*} | ||
| 113 | * f (\mathbf{q}) = \left(\begin{array}{c} | ||
| 114 | * \mathbf{translation}\left(T_{1/J_1}^T T_1^T T_2 T_{2/J_2}\right)\\ | ||
| 115 | * \log \left((R_1 R_{1/J_1})^T R_2 R_{2/J_2}\right) \end{array}\right) | ||
| 116 | * \f} | ||
| 117 | * | ||
| 118 | * The Jacobian is given by | ||
| 119 | * | ||
| 120 | * \f{equation*} | ||
| 121 | * \left(\begin{array}{c} | ||
| 122 | * (R_1 R_{1/J_1})^T \left(\left[R_2 t_{2/J_2} + t_2 - t_1\right]_{\times} | ||
| 123 | * R_1 J_{1\,\omega} - \left[R_2 t_{2/J_2}\right]_{\times} R_2 J_{2\,\omega} + | ||
| 124 | * R_2 J_{2\,\mathbf{v}} - R_1 J_{1\,\mathbf{v}}\right) \\ | ||
| 125 | * J_{log}\left((R_1 R_{1/J_1})^T R_2 R_{2/J_2}\right)(R_1 R_{1/J_1})^T | ||
| 126 | * (R_2 J_{2\,\omega} - R_1 J_{1\,\omega}) | ||
| 127 | * \end{array}\right) | ||
| 128 | * \f} | ||
| 129 | * | ||
| 130 | * For RelativeTransformationR3xSO3, OrientationSO3, the 3 last components | ||
| 131 | * are replaced by a quaternion. | ||
| 132 | */ | ||
| 133 | template <int _Options> | ||
| 134 | class HPP_CONSTRAINTS_DLLAPI GenericTransformation | ||
| 135 | : public DifferentiableFunction { | ||
| 136 | public: | ||
| 137 | typedef shared_ptr<GenericTransformation> Ptr_t; | ||
| 138 | typedef weak_ptr<GenericTransformation> WkPtr_t; | ||
| 139 | #if __cplusplus >= 201103L | ||
| 140 | static constexpr bool IsRelative = _Options & RelativeBit, | ||
| 141 | ComputeOrientation = _Options & OrientationBit, | ||
| 142 | ComputePosition = _Options & PositionBit, | ||
| 143 | OutputR3xSO3 = _Options & OutputR3xSO3Bit, | ||
| 144 | IsPosition = ComputePosition && !ComputeOrientation, | ||
| 145 | IsOrientation = !ComputePosition && ComputeOrientation, | ||
| 146 | IsTransform = ComputePosition && ComputeOrientation; | ||
| 147 | static constexpr int ValueSize = | ||
| 148 | (ComputePosition ? 3 : 0) + | ||
| 149 | (ComputeOrientation ? (OutputR3xSO3 ? 4 : 3) : 0), | ||
| 150 | DerSize = (ComputePosition ? 3 : 0) + | ||
| 151 | (ComputeOrientation ? 3 : 0); | ||
| 152 | #else | ||
| 153 | enum { | ||
| 154 | IsRelative = _Options & RelativeBit, | ||
| 155 | ComputeOrientation = _Options & OrientationBit, | ||
| 156 | ComputePosition = _Options & PositionBit, | ||
| 157 | OutputR3xSO3 = _Options & OutputR3xSO3Bit, | ||
| 158 | IsPosition = ComputePosition && !ComputeOrientation, | ||
| 159 | IsOrientation = !ComputePosition && ComputeOrientation, | ||
| 160 | IsTransform = ComputePosition && ComputeOrientation, | ||
| 161 | ValueSize = (ComputePosition ? 3 : 0) + | ||
| 162 | (ComputeOrientation ? (OutputR3xSO3 ? 4 : 3) : 0), | ||
| 163 | DerSize = (ComputePosition ? 3 : 0) + (ComputeOrientation ? 3 : 0) | ||
| 164 | }; | ||
| 165 | #endif | ||
| 166 | |||
| 167 | /// \cond | ||
| 168 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 169 | /// \endcond | ||
| 170 | |||
| 171 | /// Object builder for absolute functions. | ||
| 172 | /// | ||
| 173 | /// \param name the name of the constraints, | ||
| 174 | /// \param robot the robot the constraints is applied to, | ||
| 175 | /// \param joint2 the second joint the transformation of which is | ||
| 176 | /// constrained, | ||
| 177 | /// \param reference desired relative transformation | ||
| 178 | /// \f$T_2(\mathbf{q})\f$ between the joints. | ||
| 179 | /// \param mask which component of the error vector to take into | ||
| 180 | /// account. | ||
| 181 | static Ptr_t create(const std::string& name, const DevicePtr_t& robot, | ||
| 182 | const JointConstPtr_t& joint2, | ||
| 183 | const Transform3s& reference, | ||
| 184 | std::vector<bool> mask = std::vector<bool>(DerSize, | ||
| 185 | true)); | ||
| 186 | |||
| 187 | /// Object builder for absolute functions. | ||
| 188 | /// | ||
| 189 | /// \param name the name of the constraints, | ||
| 190 | /// \param robot the robot the constraints is applied to, | ||
| 191 | /// \param joint2 the second joint the transformation of which is | ||
| 192 | /// constrained, | ||
| 193 | /// \param frame2 position of a fixed frame in joint 2, | ||
| 194 | /// \param frame1 position of a fixed frame in the world, | ||
| 195 | /// \param mask vector of 6 boolean defining which coordinates of the | ||
| 196 | /// error vector to take into account. | ||
| 197 | /// | ||
| 198 | /// \note For Position, the rotation part of frame1 defines the | ||
| 199 | /// frame in which the error is expressed and the rotation of frame2 | ||
| 200 | /// has no effect. | ||
| 201 | static Ptr_t create(const std::string& name, const DevicePtr_t& robot, | ||
| 202 | /* World frame */ const JointConstPtr_t& joint2, | ||
| 203 | const Transform3s& frame2, const Transform3s& frame1, | ||
| 204 | std::vector<bool> mask = std::vector<bool>(DerSize, | ||
| 205 | true)); | ||
| 206 | |||
| 207 | /// Object builder for relative functions. | ||
| 208 | /// | ||
| 209 | /// \param name the name of the constraints, | ||
| 210 | /// \param robot the robot the constraints is applied to, | ||
| 211 | /// \param joint1 the first joint the transformation of which is | ||
| 212 | /// constrained, | ||
| 213 | /// \param joint2 the second joint the transformation of which is | ||
| 214 | /// constrained, | ||
| 215 | /// \param reference desired relative transformation | ||
| 216 | /// \f$T_1(\mathbf{q})^{-1} T_2(\mathbf{q})\f$ between the joints. | ||
| 217 | /// \param mask which component of the error vector to take into | ||
| 218 | /// account. | ||
| 219 | static Ptr_t create(const std::string& name, const DevicePtr_t& robot, | ||
| 220 | const JointConstPtr_t& joint1, | ||
| 221 | const JointConstPtr_t& joint2, | ||
| 222 | const Transform3s& reference, | ||
| 223 | std::vector<bool> mask = std::vector<bool>(DerSize, | ||
| 224 | true)); | ||
| 225 | |||
| 226 | /// Object builder for relative functions. | ||
| 227 | /// | ||
| 228 | /// \param name the name of the constraints, | ||
| 229 | /// \param robot the robot the constraints is applied to, | ||
| 230 | /// \param joint1 the first joint the transformation of which is | ||
| 231 | /// constrained, | ||
| 232 | /// \param joint2 the second joint the transformation of which is | ||
| 233 | /// constrained, | ||
| 234 | /// \param frame1 position of a fixed frame in joint 1, | ||
| 235 | /// \param frame2 position of a fixed frame in joint 2, | ||
| 236 | /// \param mask vector of 6 boolean defining which coordinates of the | ||
| 237 | /// error vector to take into account. | ||
| 238 | /// \note if joint1 is 0x0, joint 1 frame is considered to be the global | ||
| 239 | /// frame. | ||
| 240 | /// | ||
| 241 | /// \note For RelativePosition, the rotation part of frame1 defines the | ||
| 242 | /// frame in which the error is expressed and the rotation of frame2 | ||
| 243 | /// has no effect. | ||
| 244 | static Ptr_t create(const std::string& name, const DevicePtr_t& robot, | ||
| 245 | const JointConstPtr_t& joint1, | ||
| 246 | const JointConstPtr_t& joint2, const Transform3s& frame1, | ||
| 247 | const Transform3s& frame2, | ||
| 248 | std::vector<bool> mask = std::vector<bool>(DerSize, | ||
| 249 | true)); | ||
| 250 | |||
| 251 | 420 | virtual ~GenericTransformation() {} | |
| 252 | |||
| 253 | /// Set desired relative transformation of joint2 in joint1 | ||
| 254 | /// | ||
| 255 | 84 | inline void reference(const Transform3s& reference) { | |
| 256 | 84 | m_.F1inJ1 = reference; | |
| 257 | 84 | m_.checkIsIdentity1(); | |
| 258 | 84 | m_.F2inJ2.setIdentity(); | |
| 259 | 84 | m_.checkIsIdentity2(); | |
| 260 | } | ||
| 261 | |||
| 262 | /// Get desired relative orientation | ||
| 263 | ✗ | inline Transform3s reference() const { return m_.F1inJ1.actInv(m_.F2inJ2); } | |
| 264 | |||
| 265 | /// Set joint 1 | ||
| 266 | 188 | inline void joint1(const JointConstPtr_t& joint) { | |
| 267 | // static_assert(IsRelative); | ||
| 268 | 188 | m_.setJoint1(joint); | |
| 269 | 188 | computeActiveParams(); | |
| 270 |
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188 | assert(!joint || joint->robot() == robot_); |
| 271 | 188 | } | |
| 272 | |||
| 273 | /// Get joint 1 | ||
| 274 | 556 | inline JointConstPtr_t joint1() const { return m_.getJoint1(); } | |
| 275 | |||
| 276 | /// Set joint 2 | ||
| 277 | 188 | inline void joint2(const JointConstPtr_t& joint) { | |
| 278 | 188 | m_.joint2 = joint; | |
| 279 | 188 | computeActiveParams(); | |
| 280 |
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358 | assert(!joint || (joint->index() > 0 && joint->robot() == robot_)); |
| 281 | 188 | } | |
| 282 | |||
| 283 | /// Get joint 2 | ||
| 284 | 596 | inline JointConstPtr_t joint2() const { return m_.joint2; } | |
| 285 | |||
| 286 | /// Set position of frame 1 in joint 1 | ||
| 287 | 104 | inline void frame1InJoint1(const Transform3s& M) { | |
| 288 | 104 | m_.F1inJ1 = M; | |
| 289 | 104 | m_.checkIsIdentity1(); | |
| 290 | } | ||
| 291 | /// Get position of frame 1 in joint 1 | ||
| 292 | 56 | inline const Transform3s& frame1InJoint1() const { return m_.F1inJ1; } | |
| 293 | /// Set position of frame 2 in joint 2 | ||
| 294 | 104 | inline void frame2InJoint2(const Transform3s& M) { | |
| 295 | 104 | m_.F2inJ2 = M; | |
| 296 | 104 | m_.checkIsIdentity2(); | |
| 297 | } | ||
| 298 | /// Get position of frame 2 in joint 2 | ||
| 299 | 56 | inline const Transform3s& frame2InJoint2() const { return m_.F2inJ2; } | |
| 300 | |||
| 301 | /// Return pair of joints the relative pose between which | ||
| 302 | /// modifies the function value if any | ||
| 303 | /// | ||
| 304 | /// This method is useful to know whether an instance of Implicit constrains | ||
| 305 | /// the relative pose between two joints. | ||
| 306 | /// \return the pair of joints involved, arranged in order of increasing | ||
| 307 | /// joint index, or a pair of empty shared pointers. or a pair of empty shared | ||
| 308 | /// pointers. \note if absolute pose (relative pose with respect to | ||
| 309 | /// "universe"), "universe" is returned as empty shared pointer | ||
| 310 | 36 | std::pair<JointConstPtr_t, JointConstPtr_t> dependsOnRelPoseBetween( | |
| 311 | DeviceConstPtr_t /*robot*/) const { | ||
| 312 |
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36 | JointConstPtr_t j1 = joint1(); |
| 313 |
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36 | JointConstPtr_t j2 = joint2(); |
| 314 | 36 | size_type index1 = Joint::index(j1); | |
| 315 | 36 | size_type index2 = Joint::index(j2); | |
| 316 |
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36 | if (index1 <= index2) { |
| 317 | 28 | return std::pair<JointConstPtr_t, JointConstPtr_t>(j1, j2); | |
| 318 | } else { | ||
| 319 | 8 | return std::pair<JointConstPtr_t, JointConstPtr_t>(j2, j1); | |
| 320 | } | ||
| 321 | 36 | }; | |
| 322 | |||
| 323 | virtual std::ostream& print(std::ostream& o) const; | ||
| 324 | |||
| 325 | /// Constructor | ||
| 326 | /// | ||
| 327 | /// \param name the name of the constraints, | ||
| 328 | /// \param robot the robot the constraints is applied to, | ||
| 329 | /// \f$T_1(\mathbf{q})^{-1} T_2(\mathbf{q})\f$ between the joints. | ||
| 330 | /// \param mask vector of 6 boolean defining which coordinates of the | ||
| 331 | /// error vector to take into account. | ||
| 332 | GenericTransformation(const std::string& name, const DevicePtr_t& robot, | ||
| 333 | std::vector<bool> mask); | ||
| 334 | |||
| 335 | protected: | ||
| 336 | 84 | void init(const WkPtr_t& self) { | |
| 337 | 84 | self_ = self; | |
| 338 | 84 | computeActiveParams(); | |
| 339 | } | ||
| 340 | |||
| 341 | /// Compute value of error | ||
| 342 | /// | ||
| 343 | /// \param argument configuration of the robot, | ||
| 344 | /// \retval result error vector | ||
| 345 | virtual void impl_compute(LiegroupElementRef result, | ||
| 346 | ConfigurationIn_t argument) const; | ||
| 347 | virtual void impl_jacobian(matrixOut_t jacobian, ConfigurationIn_t arg) const; | ||
| 348 | |||
| 349 | 52490 | bool isEqual(const DifferentiableFunction& other) const { | |
| 350 | 42466 | const GenericTransformation& castother = | |
| 351 |
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52490 | dynamic_cast<const GenericTransformation&>(other); |
| 352 |
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42466 | if (!DifferentiableFunction::isEqual(other)) return false; |
| 353 |
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42444 | if (robot_ != castother.robot_) return false; |
| 354 |
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42444 | if (mask_ != castother.mask_) return false; |
| 355 | |||
| 356 | 42444 | return true; | |
| 357 | } | ||
| 358 | |||
| 359 | private: | ||
| 360 | void computeActiveParams(); | ||
| 361 | DevicePtr_t robot_; | ||
| 362 | GenericTransformationModel<IsRelative> m_; | ||
| 363 | Eigen::RowBlockIndices Vindices_; | ||
| 364 | const std::vector<bool> mask_; | ||
| 365 | WkPtr_t self_; | ||
| 366 | |||
| 367 |
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22 | GenericTransformation() : m_(0) {} |
| 368 | HPP_SERIALIZABLE(); | ||
| 369 | }; // class GenericTransformation | ||
| 370 | /// \} | ||
| 371 | } // namespace constraints | ||
| 372 | } // namespace hpp | ||
| 373 | #endif // HPP_CONSTRAINTS_GENERIC_TRANSFORMATION_HH | ||
| 374 |