#include <constraint-model-base.hpp>

Inheritance diagram for pinocchio::ConstraintModelBase< Derived >:

Public Types
enum	{ Options = traits<Derived>::Options }

typedef Eigen::Matrix< bool, Eigen::Dynamic, 1, Options >	BooleanVector

typedef traits< Derived >::ConstraintData	ConstraintData

typedef std::vector< Eigen::DenseIndex >	IndexVector

typedef traits< Derived >::Scalar	Scalar

Public Types inherited from pinocchio::NumericalBase< Derived >
typedef traits< Derived >::Scalar	Scalar

Public Member Functions
template<int Options, template< typename, int > class JointCollectionTpl>
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. More...

template<typename NewScalar >
CastType< NewScalar, Derived >::type	cast () const

ConstraintData	createData () const

Derived &	derived ()

const Derived &	derived () const

template<typename JacobianMatrix , int Options, template< typename, int > class JointCollectionTpl>
void	jacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, ConstraintData &cdata, const Eigen::MatrixBase< JacobianMatrix > &jacobian_matrix) const

template<typename OtherDerived >
ConstraintModelBase &	operator= (const ConstraintModelBase< OtherDerived > &other)

template<typename OtherDerived >
bool	operator== (const ConstraintModelBase< OtherDerived > &other) const

Public Attributes
IndexVector	colwise_span_indexes
	Indexes of the columns spanned by the constraints. More...

BooleanVector	colwise_sparsity
	Sparsity pattern associated to the constraint;. More...

std::string	name
	Name of the constraint. More...

Protected Member Functions
ConstraintModelBase &	base ()

const ConstraintModelBase &	base () const

	ConstraintModelBase ()
	Default constructor. More...

template<int Options, template< typename, int > class JointCollectionTpl>
	ConstraintModelBase (const ModelTpl< Scalar, Options, JointCollectionTpl > &model)

Detailed Description

template<class Derived>
struct pinocchio::ConstraintModelBase< Derived >

Definition at line 15 of file constraint-model-base.hpp.

Member Typedef Documentation

◆ BooleanVector

template<class Derived >

typedef Eigen::Matrix<bool, Eigen::Dynamic, 1, Options> pinocchio::ConstraintModelBase< Derived >::BooleanVector

Definition at line 24 of file constraint-model-base.hpp.

◆ ConstraintData

template<class Derived >

typedef traits<Derived>::ConstraintData pinocchio::ConstraintModelBase< Derived >::ConstraintData

Definition at line 22 of file constraint-model-base.hpp.

◆ IndexVector

template<class Derived >

typedef std::vector<Eigen::DenseIndex> pinocchio::ConstraintModelBase< Derived >::IndexVector

Definition at line 26 of file constraint-model-base.hpp.

◆ Scalar

template<class Derived >

typedef traits<Derived>::Scalar pinocchio::ConstraintModelBase< Derived >::Scalar

Definition at line 17 of file constraint-model-base.hpp.

Member Enumeration Documentation

◆ anonymous enum

template<class Derived >

anonymous enum

Enumerator
Options

Definition at line 18 of file constraint-model-base.hpp.

Constructor & Destructor Documentation

◆ ConstraintModelBase() [1/2]

template<class Derived >

template<int Options, template< typename, int > class JointCollectionTpl>

pinocchio::ConstraintModelBase< Derived >::ConstraintModelBase ( const ModelTpl< Scalar, Options, JointCollectionTpl > & model )

inlineprotected

Definition at line 99 of file constraint-model-base.hpp.

◆ ConstraintModelBase() [2/2]

template<class Derived >

pinocchio::ConstraintModelBase< Derived >::ConstraintModelBase ( )

inlineprotected

Default constructor.

Definition at line 107 of file constraint-model-base.hpp.

Member Function Documentation

◆ base() [1/2]

template<class Derived >

ConstraintModelBase& pinocchio::ConstraintModelBase< Derived >::base ( )

inlineprotected

Definition at line 111 of file constraint-model-base.hpp.

◆ base() [2/2]

template<class Derived >

const ConstraintModelBase& pinocchio::ConstraintModelBase< Derived >::base ( ) const

inlineprotected

Definition at line 115 of file constraint-model-base.hpp.

◆ calc()

template<class Derived >

template<int Options, template< typename, int > class JointCollectionTpl>

void pinocchio::ConstraintModelBase< Derived >::calc	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		ConstraintData &	cdata
	)		const

inline

Evaluate the constraint values at the current state given by data and store the results in cdata.

Definition at line 46 of file constraint-model-base.hpp.

◆ cast()

template<class Derived >

template<typename NewScalar >

CastType<NewScalar, Derived>::type pinocchio::ConstraintModelBase< Derived >::cast ( ) const

inline

Definition at line 38 of file constraint-model-base.hpp.

◆ createData()

template<class Derived >

ConstraintData pinocchio::ConstraintModelBase< Derived >::createData ( ) const

inline

Definition at line 92 of file constraint-model-base.hpp.

◆ derived() [1/2]

template<class Derived >

Derived& pinocchio::ConstraintModelBase< Derived >::derived ( )

inline

Definition at line 28 of file constraint-model-base.hpp.

◆ derived() [2/2]

template<class Derived >

const Derived& pinocchio::ConstraintModelBase< Derived >::derived ( ) const

inline

Definition at line 32 of file constraint-model-base.hpp.

◆ jacobian()

template<class Derived >

template<typename JacobianMatrix , int Options, template< typename, int > class JointCollectionTpl>

void pinocchio::ConstraintModelBase< Derived >::jacobian	(	const ModelTpl< Scalar, Options, JointCollectionTpl > &	model,
		const DataTpl< Scalar, Options, JointCollectionTpl > &	data,
		ConstraintData &	cdata,
		const Eigen::MatrixBase< JacobianMatrix > &	jacobian_matrix
	)		const

inline

Definition at line 55 of file constraint-model-base.hpp.

◆ operator=()

template<class Derived >

template<typename OtherDerived >

ConstraintModelBase& pinocchio::ConstraintModelBase< Derived >::operator= ( const ConstraintModelBase< OtherDerived > & other )

inline

Definition at line 83 of file constraint-model-base.hpp.

◆ operator==()

template<class Derived >

template<typename OtherDerived >

bool pinocchio::ConstraintModelBase< Derived >::operator== ( const ConstraintModelBase< OtherDerived > & other ) const

inline

Definition at line 76 of file constraint-model-base.hpp.

Member Data Documentation

◆ colwise_span_indexes

template<class Derived >

IndexVector pinocchio::ConstraintModelBase< Derived >::colwise_span_indexes

Indexes of the columns spanned by the constraints.

Definition at line 73 of file constraint-model-base.hpp.

◆ colwise_sparsity

template<class Derived >

BooleanVector pinocchio::ConstraintModelBase< Derived >::colwise_sparsity

Sparsity pattern associated to the constraint;.

Definition at line 70 of file constraint-model-base.hpp.

◆ name

template<class Derived >

std::string pinocchio::ConstraintModelBase< Derived >::name

Name of the constraint.

Definition at line 67 of file constraint-model-base.hpp.

The documentation for this struct was generated from the following file:

constraint-model-base.hpp

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Detailed Description

template<class Derived> struct pinocchio::ConstraintModelBase< Derived >

Member Typedef Documentation

◆ BooleanVector

◆ ConstraintData

◆ IndexVector

◆ Scalar

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ ConstraintModelBase() [1/2]

◆ ConstraintModelBase() [2/2]

Member Function Documentation

◆ base() [1/2]

◆ base() [2/2]

◆ calc()

◆ cast()

◆ createData()

◆ derived() [1/2]

◆ derived() [2/2]

◆ jacobian()

◆ operator=()

◆ operator==()

Member Data Documentation

◆ colwise_span_indexes

◆ colwise_sparsity

◆ name

template<class Derived>
struct pinocchio::ConstraintModelBase< Derived >