Template Struct ConstraintModelBase
Defined in File constraint-model-base.hpp
Inheritance Relationships
Base Type
public pinocchio::NumericalBase< Derived >
(Template Struct NumericalBase)
Struct Documentation
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template<class Derived>
struct ConstraintModelBase : public pinocchio::NumericalBase<Derived> Public Types
Values:
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enumerator Options
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enumerator Options
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typedef Eigen::Matrix<bool, Eigen::Dynamic, 1, Options> BooleanVector
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typedef std::vector<Eigen::DenseIndex> IndexVector
Public Functions
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template<int Options, template<typename, int> class JointCollectionTpl>
inline void calc(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const DataTpl<Scalar, Options, JointCollectionTpl> &data, ConstraintData &cdata) const Evaluate the constraint values at the current state given by data and store the results in cdata.
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template<typename JacobianMatrix, int Options, template<typename, int> class JointCollectionTpl>
inline void jacobian(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const DataTpl<Scalar, Options, JointCollectionTpl> &data, ConstraintData &cdata, const Eigen::MatrixBase<JacobianMatrix> &jacobian_matrix) const
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template<typename OtherDerived>
inline bool operator==(const ConstraintModelBase<OtherDerived> &other) const
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template<typename OtherDerived>
inline ConstraintModelBase &operator=(const ConstraintModelBase<OtherDerived> &other)
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inline ConstraintData createData() const
Public Members
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std::string name
Name of the constraint.
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BooleanVector colwise_sparsity
Sparsity pattern associated to the constraint;.
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IndexVector colwise_span_indexes
Indexes of the columns spanned by the constraints.
Protected Functions
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template<int Options, template<typename, int> class JointCollectionTpl>
inline ConstraintModelBase(const ModelTpl<Scalar, Options, JointCollectionTpl> &model)
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inline ConstraintModelBase()
Default constructor.
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inline ConstraintModelBase &base()
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inline const ConstraintModelBase &base() const