This package provides a representation of the concept of mathematical functions from a manifold, for instace the configuration space of a robot (hpp::pinocchio::Device) to a finite dimensional vector space.

Some robots can be subject to constraints.

closed kinematic chains,
quasi-static equilibrium for legged robots

are examples of such constraints. These constraints can be defined implicitely by an equation the left hand side of which is a differentiable function of the robot configuration.