Template Struct ConstraintModelBase

Inheritance Relationships

Base Type

Struct Documentation

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

Public Types

Values:

enumerator Options
typedef traits<Derived>::Scalar Scalar
typedef traits<Derived>::ConstraintData ConstraintData
typedef Eigen::Matrix<bool, Eigen::Dynamic, 1, Options> BooleanVector
typedef std::vector<Eigen::DenseIndex> IndexVector

Public Functions

inline Derived &derived()
inline const Derived &derived() const
template<typename NewScalar>
inline CastType<NewScalar, Derived>::type cast() const
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.

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

Public Members

std::string name

Name of the constraint.

BooleanVector colwise_sparsity

Sparsity pattern associated to the constraint;.

IndexVector colwise_span_indexes

Indexes of the columns spanned by the constraints.

Protected Functions

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

Default constructor.

inline ConstraintModelBase &base()
inline const ConstraintModelBase &base() const