17 #ifndef HPP_CONSTRAINTS_EXPLICIT_RELATIVE_TRANSFORMATION_HH 18 # define HPP_CONSTRAINTS_EXPLICIT_RELATIVE_TRANSFORMATION_HH 25 namespace constraints {
59 (
const std::string& name ,
const DevicePtr_t& robot,
86 std::vector <bool> mask = std::vector<bool>(6,
true));
91 robot_ (other.robot_),
92 parentJoint_ (other.parentJoint_),
93 inConf_ (other.inConf_), inVel_ (other.inVel_),
94 outConf_ (other.outConf_), outVel_ (other.outVel_),
95 F1inJ1_invF2inJ2_ (other.F1inJ1_invF2inJ2_)
100 void init (
const RelativeTransformationWkPtr_t& weak)
116 void forwardKinematics (
vectorIn_t arg)
const;
123 RowBlockIndices inConf_;
124 ColBlockIndices inVel_;
125 RowBlockIndices outConf_ , outVel_;
128 RelativeTransformationWkPtr_t weak_;
132 mutable matrix_t tmpJac_, J2_parent_minus_J1_;
140 #endif // HPP_CONSTRAINTS_EXPLICIT_RELATIVE_TRANSFORMATION_HH
pinocchio::vector_t vector_t
Definition: fwd.hh:45
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:46
Definition: matrix-view.hh:37
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:91
GenericTransformation< RelativeBit|PositionBit|OrientationBit > RelativeTransformation
Definition: fwd.hh:138
ObjectFactory * create(ObjectFactory *parent=NULL, const XMLElement *element=NULL)
std::vector< segment_t > segments_t
Definition: fwd.hh:69
pinocchio::matrix_t matrix_t
Definition: fwd.hh:42
pinocchio::JointConstPtr_t JointConstPtr_t
Definition: fwd.hh:38
Definition: differentiable-function.hh:50
boost::shared_ptr< RelativeTransformation > RelativeTransformationPtr_t
Definition: fwd.hh:194
Eigen::Ref< matrix_t > matrixOut_t
Definition: fwd.hh:44
boost::shared_ptr< RelativeTransformation > RelativeTransformationPtr_t
Definition: fwd.hh:152
pinocchio::Transform3f Transform3f
Definition: fwd.hh:50