Namespaces
namespace	eigen
namespace	explicit_
namespace	function
namespace	internal
namespace	solver

Classes
class	ActiveSetDifferentiableFunction
class	AffineFunction
class	CalculusBase
class	CalculusBaseAbstract
class	ComBetweenFeet
class	ConfigurationConstraint
	Square distance between input configuration and reference configuration. More...
struct	ConstantFunction
class	ConvexShape
class	ConvexShapeContact
class	ConvexShapeContactComplement
class	ConvexShapeContactHold
struct	ConvexShapeData
class	CrossProduct
	Cross product of two expressions. More...
class	Difference
	Difference of two expressions. More...
class	DifferentiableFunction
class	DifferentiableFunctionSet
class	DistanceBetweenBodies
class	DistanceBetweenPointsInBodies
class	Explicit
class	ExplicitConstraintSet
class	Expression
	Base class for classes representing an operation. More...
class	FunctionExp
	Basic expression mapping a function as an expression. More...
class	FunctionNotDefinedForThisValue
	Exception thrown when a function is evaluated outside its definition domain. More...
class	GenericTransformation
class	Identity
class	Implicit
class	ImplicitConstraintSet
class	JointFrame
struct	JointTranspose
class	LockedJoint
class	Manipulability
	Differentiable function. More...
class	MatrixOfExpressions
	Matrix having Expression elements. More...
class	Point
class	PointCom
	Basic expression representing a COM. More...
class	PointInJoint
	Basic expression representing a point in a joint frame. More...
class	QPStaticStability
class	RelativeCom
class	RotationMultiply
	Multiplication of an expression by a rotation matrix. More...
class	ScalarMultiply
	Multiplication of an expression by a scalar. More...
class	ScalarProduct
	Scalar product of two expressions. More...
class	StaticStability
class	Sum
	Sum of two expressions. More...
class	SymbolicFunction
struct	Traits
struct	Traits< JointTranspose >
struct	Traits< pinocchio::Joint >
struct	Traits< value_type >
class	VectorInJoint
	Basic expression representing a vector in a joint frame. More...

Typedefs
typedef pinocchio::size_type	size_type
typedef pinocchio::value_type	value_type
typedef pinocchio::JointPtr_t	JointPtr_t
typedef pinocchio::JointConstPtr_t	JointConstPtr_t
typedef pinocchio::Joint	Joint
typedef pinocchio::vector3_t	vector3_t
typedef pinocchio::matrix3_t	matrix3_t
typedef Eigen::Matrix< value_type, 6, 6 >	matrix6_t
typedef Eigen::Matrix< value_type, 8, 1 >	vector8_t
typedef pinocchio::matrix_t	matrix_t
typedef Eigen::Ref< const matrix_t >	matrixIn_t
typedef Eigen::Ref< matrix_t >	matrixOut_t
typedef pinocchio::vector_t	vector_t
typedef pinocchio::vectorIn_t	vectorIn_t
typedef pinocchio::vectorOut_t	vectorOut_t
typedef pinocchio::ComJacobian_t	ComJacobian_t
typedef pinocchio::JointJacobian_t	JointJacobian_t
typedef pinocchio::Transform3s	Transform3s
typedef pinocchio::LiegroupElement	LiegroupElement
typedef pinocchio::LiegroupElementRef	LiegroupElementRef
typedef pinocchio::LiegroupElementConstRef	LiegroupElementConstRef
typedef pinocchio::LiegroupSpace	LiegroupSpace
typedef pinocchio::LiegroupSpacePtr_t	LiegroupSpacePtr_t
typedef pinocchio::LiegroupSpaceConstPtr_t	LiegroupSpaceConstPtr_t
typedef Eigen::Matrix< value_type, 5, 1 >	vector5_t
typedef Eigen::Matrix< value_type, 6, 1 >	vector6_t
typedef Eigen::Matrix< value_type, 7, 1 >	vector7_t
typedef Eigen::Quaternion< value_type >	Quaternion_t
typedef pinocchio::ArrayXb	ArrayXb
typedef ArrayXb	bool_array_t
typedef std::pair< size_type, size_type >	segment_t
typedef std::pair< value_type, value_type >	interval_t
typedef std::vector< segment_t >	segments_t
typedef std::vector< ConvexShape >	ConvexShapes_t
typedef pinocchio::ObjectVector_t	ObjectVector_t
typedef pinocchio::CollisionObjectPtr_t	CollisionObjectPtr_t
typedef pinocchio::CollisionObjectConstPtr_t	CollisionObjectConstPtr_t
typedef pinocchio::Configuration_t	Configuration_t
typedef pinocchio::ConfigurationIn_t	ConfigurationIn_t
typedef pinocchio::ConfigurationOut_t	ConfigurationOut_t
typedef pinocchio::Device	Device
typedef pinocchio::DevicePtr_t	DevicePtr_t
typedef pinocchio::DeviceConstPtr_t	DeviceConstPtr_t
typedef pinocchio::CenterOfMassComputation	CenterOfMassComputation
typedef pinocchio::CenterOfMassComputationPtr_t	CenterOfMassComputationPtr_t
typedef shared_ptr< DifferentiableFunction >	DifferentiableFunctionPtr_t
typedef shared_ptr< DifferentiableFunctionSet >	DifferentiableFunctionSetPtr_t
typedef shared_ptr< ActiveSetDifferentiableFunction >	ActiveSetDifferentiableFunctionPtr_t
typedef shared_ptr< DistanceBetweenBodies >	DistanceBetweenBodiesPtr_t
typedef shared_ptr< DistanceBetweenPointsInBodies >	DistanceBetweenPointsInBodiesPtr_t
typedef shared_ptr< RelativeCom >	RelativeComPtr_t
typedef shared_ptr< ComBetweenFeet >	ComBetweenFeetPtr_t
typedef std::vector< vector3_t >	Shape_t
typedef std::pair< JointPtr_t, Shape_t >	JointAndShape_t
typedef std::vector< JointAndShape_t >	JointAndShapes_t
typedef shared_ptr< ConvexShapeContact >	ConvexShapeContactPtr_t
typedef shared_ptr< ConvexShapeContactComplement >	ConvexShapeContactComplementPtr_t
typedef shared_ptr< ConvexShapeContactHold >	ConvexShapeContactHoldPtr_t
typedef shared_ptr< StaticStability >	StaticStabilityPtr_t
typedef shared_ptr< QPStaticStability >	QPStaticStabilityPtr_t
typedef shared_ptr< ConfigurationConstraint >	ConfigurationConstraintPtr_t
typedef shared_ptr< Identity >	IdentityPtr_t
typedef shared_ptr< AffineFunction >	AffineFunctionPtr_t
typedef shared_ptr< ConstantFunction >	ConstantFunctionPtr_t
typedef GenericTransformation< PositionBit >	Position
typedef GenericTransformation< OrientationBit >	Orientation
typedef GenericTransformation< RelativeBit\|PositionBit\|OrientationBit >	RelativeTransformation
typedef GenericTransformation< RelativeBit\|PositionBit >	RelativePosition
typedef GenericTransformation< RelativeBit\|OrientationBit >	RelativeOrientation
typedef GenericTransformation< PositionBit\|OrientationBit\|OutputR3xSO3Bit >	TransformationR3xSO3
typedef GenericTransformation< RelativeBit\|PositionBit\|OrientationBit\|OutputR3xSO3Bit >	RelativeTransformationR3xSO3
typedef GenericTransformation< OrientationBit\|OutputR3xSO3Bit >	OrientationSO3
typedef GenericTransformation< RelativeBit\|OrientationBit\|OutputR3xSO3Bit >	RelativeOrientationSO3
typedef shared_ptr< Position >	PositionPtr_t
typedef shared_ptr< Orientation >	OrientationPtr_t
typedef shared_ptr< Transformation >	TransformationPtr_t
typedef shared_ptr< RelativePosition >	RelativePositionPtr_t
typedef shared_ptr< RelativeOrientation >	RelativeOrientationPtr_t
typedef shared_ptr< RelativeTransformation >	RelativeTransformationPtr_t
typedef Eigen::BlockIndex	BlockIndex
typedef shared_ptr< Implicit >	ImplicitPtr_t
typedef shared_ptr< const Implicit >	ImplicitConstPtr_t
typedef std::vector< constraints::ImplicitPtr_t >	NumericalConstraints_t
typedef shared_ptr< ImplicitConstraintSet >	ImplicitConstraintSetPtr_t
typedef std::vector< ComparisonType >	ComparisonTypes_t
typedef shared_ptr< Explicit >	ExplicitPtr_t
typedef shared_ptr< const Explicit >	ExplicitConstPtr_t
typedef std::map< ImplicitPtr_t, ImplicitPtr_t >	ConstraintReplacement_t
typedef shared_ptr< LockedJoint >	LockedJointPtr_t
typedef shared_ptr< const LockedJoint >	LockedJointConstPtr_t
typedef std::vector< LockedJointPtr_t >	LockedJoints_t
typedef shared_ptr< Manipulability >	ManipulabilityPtr_t
typedef eigen::matrix3_t	CrossMatrix
typedef Eigen::Matrix< value_type, 1, Eigen::Dynamic, Eigen::RowMajor >	RowJacobianMatrix
typedef Eigen::Matrix< value_type, 3, Eigen::Dynamic, Eigen::RowMajor >	JacobianMatrix
typedef GenericTransformation< RelativeBit\|PositionBit\|OrientationBit >	RelativeTransformation
typedef shared_ptr< RelativeTransformation >	RelativeTransformationPtr_t

Enumerations
enum	ComparisonType { Equality , EqualToZero , Superior , Inferior }

Functions
internal::ReplicateCompType	operator* (const int &n, const ComparisonType &c)
ComparisonTypes_t	operator<< (const ComparisonType &a, const ComparisonType &b)
ComparisonTypes_t	operator<< (const internal::ReplicateCompType &a, const ComparisonType &b)
ComparisonTypes_t	operator<< (const ComparisonType &a, const internal::ReplicateCompType &b)
ComparisonTypes_t &	operator<< (ComparisonTypes_t &v, const ComparisonType &c)
ComparisonTypes_t &	operator<< (ComparisonTypes_t &v, const internal::ReplicateCompType &c)
ComparisonTypes_t	operator<< (const ComparisonTypes_t &v, const ComparisonType &c)
ComparisonTypes_t	operator<< (const ComparisonTypes_t &v, const internal::ReplicateCompType &c)
bool	operator== (const ComparisonTypes_t &v, const internal::ReplicateCompType &r)
std::ostream &	operator<< (std::ostream &os, const ComparisonTypes_t &comp)
void	closestPointToSegment (const vector3_t &P, const vector3_t &A, const vector3_t &v, vector3_t &B)
vector3_t	linePlaneIntersection (const vector3_t &A, const vector3_t &u, const vector3_t &P, const vector3_t &n)
std::ostream &	operator<< (std::ostream &os, const DifferentiableFunction &f)
	HPP_PREDEF_CLASS (DifferentiableFunction)
	HPP_PREDEF_CLASS (DifferentiableFunctionSet)
	HPP_PREDEF_CLASS (ActiveSetDifferentiableFunction)
	HPP_PREDEF_CLASS (DistanceBetweenBodies)
	HPP_PREDEF_CLASS (DistanceBetweenPointsInBodies)
	HPP_PREDEF_CLASS (RelativeCom)
	HPP_PREDEF_CLASS (ComBetweenFeet)
	HPP_PREDEF_CLASS (StaticStability)
	HPP_PREDEF_CLASS (QPStaticStability)
	HPP_PREDEF_CLASS (ConvexShapeContact)
	HPP_PREDEF_CLASS (ConvexShapeContactComplement)
	HPP_PREDEF_CLASS (ConvexShapeContactHold)
	HPP_PREDEF_CLASS (ConfigurationConstraint)
	HPP_PREDEF_CLASS (Identity)
	HPP_PREDEF_CLASS (AffineFunction)
	HPP_PREDEF_CLASS (ConstantFunction)
	HPP_PREDEF_CLASS (Implicit)
	HPP_PREDEF_CLASS (ImplicitConstraintSet)
	HPP_PREDEF_CLASS (Explicit)
	HPP_PREDEF_CLASS (LockedJoint)
std::ostream &	operator<< (std::ostream &os, const LockedJoint &lj)
	HPP_PREDEF_CLASS (Manipulability)
template<typename SVD>
void	projectorOnSpan (const SVD &svd, Eigen::Ref< typename SVD::MatrixType > projector)
template<typename SVD>
void	projectorOnSpanOfInv (const SVD &svd, Eigen::Ref< typename SVD::MatrixType > projector)
template<typename SVD>
void	projectorOnKernel (const SVD &svd, Eigen::Ref< typename SVD::MatrixType > projector, const bool &computeFullV=false)
template<typename SVD>
void	projectorOnKernelOfInv (const SVD &svd, Eigen::Ref< typename SVD::MatrixType > projector, const bool &computeFullU=false)
template<typename Derived>
void	logSO3 (const matrix3_t &R, value_type &theta, Eigen::MatrixBase< Derived > const &result)
template<typename Derived>
void	JlogSO3 (const value_type &theta, const Eigen::MatrixBase< Derived > &log, matrix3_t &Jlog)
template<typename Derived>
void	logSE3 (const Transform3s &M, Eigen::MatrixBase< Derived > &result)
template<typename Derived>
void	JlogSE3 (const Transform3s &M, Eigen::MatrixBase< Derived > const &Jlog)
template<typename Derived1, typename Derived2>
void	matrixToQuat (const Eigen::MatrixBase< Derived1 > &M, Eigen::MatrixBase< Derived2 > const &q)
template<typename Derived>
void	se3ToConfig (const Transform3s &M, Eigen::MatrixBase< Derived > const &q)