Class ConstraintsProblemTpl

include/simple/core/constraints-problem.hpp:28–916

  template<typename _Scalar, int _Options, template<typename, int> class JointCollectionTpl>
  struct ConstraintsProblemTpl // : ::pinocchio::NumericalBase<ConstraintsProblemTpl<_Scalar, _Options,
                               // JointCollectionTpl>>
  {
    // TODO: template by allocator
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    /////////////////////////////////////////////////
    /// TYPEDEFS
    /////////////////////////////////////////////////
    using Scalar = _Scalar;
    enum
    {
      Options = _Options
    };

    using GeomIndex = pinocchio::GeomIndex;
    using JointIndex = pinocchio::JointIndex;

    using VectorXs = Eigen::Matrix<Scalar, Eigen::Dynamic, 1, Options>;
    using MatrixXs = Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic, Options>;
    using Vector3s = Eigen::Matrix<Scalar, 3, 1, Options>;
    using Vector6s = Eigen::Matrix<Scalar, 6, 1, Options>;
    using Matrix3s = Eigen::Matrix<Scalar, 3, 3, Options>;
    using MapVectorXs = Eigen::Map<VectorXs>;
    using MapVector3s = Eigen::Map<Vector3s>;
    using MapVector6s = Eigen::Map<Vector6s>;
    using ContactIndex = std::size_t;

    using Model = ::pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>;
    using ModelHandle = std::shared_ptr<Model>;
    using Data = typename Model::Data;
    using DataHandle = std::shared_ptr<Data>;
    using GeometryModelHandle = std::shared_ptr<::pinocchio::GeometryModel>;
    using GeometryDataHandle = std::shared_ptr<::pinocchio::GeometryData>;

    using ConstraintModel = ::pinocchio::ConstraintModelTpl<Scalar, Options>;
    using ConstraintModelVector = PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(ConstraintModel);
    using WrappedConstraintModel = std::reference_wrapper<const ConstraintModel>;
    using WrappedConstraintModelVector = std::vector<WrappedConstraintModel>;

    using ConstraintData = ::pinocchio::ConstraintDataTpl<Scalar, Options>;
    using ConstraintDataVector = PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(ConstraintData);
    using WrappedConstraintData = std::reference_wrapper<ConstraintData>;
    using WrappedConstraintDataVector = std::vector<WrappedConstraintData>;

    using FrictionalJointConstraintModel = ::pinocchio::FrictionalJointConstraintModelTpl<Scalar, Options>;
    using FrictionalJointConstraintData = ::pinocchio::FrictionalJointConstraintDataTpl<Scalar, Options>;

    using BilateralPointConstraintModel = ::pinocchio::BilateralPointConstraintModelTpl<Scalar, Options>;
    using BilateralPointConstraintModelVector = PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(BilateralPointConstraintModel);
    using BilateralPointConstraintData = ::pinocchio::BilateralPointConstraintDataTpl<Scalar, Options>;

    using WeldConstraintModel = ::pinocchio::WeldConstraintModelTpl<Scalar, Options>;
    using WeldConstraintData = ::pinocchio::WeldConstraintDataTpl<Scalar, Options>;
    using WeldConstraintModelVector = PINOCCHIO_STD_VECTOR_WITH_EIGEN_ALLOCATOR(WeldConstraintModel);

    using JointLimitConstraintModel = ::pinocchio::JointLimitConstraintModelTpl<Scalar, Options>;
    using JointLimitConstraintData = ::pinocchio::JointLimitConstraintDataTpl<Scalar, Options>;