dartpy 7.0.0.dev0__cp313-cp313-manylinux_2_39_x86_64.whl

include/dart/common/detail/TemplateJoinerDispatchMacro.hpp

@@ -0,0 +1,59 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_COMMON_DETAIL_TEMPLATEJOINERDISPATCHMACRO_HPP_
+#define DART_COMMON_DETAIL_TEMPLATEJOINERDISPATCHMACRO_HPP_
+
+//==============================================================================
+/// This macro provides the implementation for most of the member functions in
+/// common::CompositeJoiner, dynamics::NodeManagerJoinerForBodyNode, and
+/// NodeManagerJoinerForSkeleton. The member functions of those classes share
+/// essentially the same logic, so it makes sense to have a single macro that
+/// provides the implementation for all of them.
+#define DETAIL_DART_COMMON_IRREGULAR_TEMPLATEJOINERDISPATCH_IMPL(              \
+    ReturnType, ClassName, Function, Suffix, SpecializationChecker, Args)      \
+  template <class Base1, class Base2>                                          \
+  template <class T>                                                           \
+  ReturnType ClassName<Base1, Base2>::Function Suffix                          \
+  {                                                                            \
+    if (Base1::template SpecializationChecker<T>())                            \
+      return Base1::template Function<T> Args;                                 \
+                                                                               \
+    return Base2::template Function<T> Args;                                   \
+  }
+
+#define DETAIL_DART_COMMON_TEMPLATEJOINERDISPATCH_IMPL(                        \
+    ReturnType, ClassName, Function, Suffix, Args)                             \
+  DETAIL_DART_COMMON_IRREGULAR_TEMPLATEJOINERDISPATCH_IMPL(                    \
+      ReturnType, ClassName, Function, Suffix, isSpecializedFor, Args)
+
+#endif // DART_COMMON_DETAIL_TEMPLATEJOINERDISPATCHMACRO_HPP_

include/dart/common/detail/sub_ptr.hpp

@@ -0,0 +1,139 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_COMMON_DETAIL_SUB_PTR_HPP_
+#define DART_COMMON_DETAIL_SUB_PTR_HPP_
+
+#include <dart/common/sub_ptr.hpp>
+
+namespace dart {
+namespace common {
+
+//==============================================================================
+template <class T>
+sub_ptr<T>::sub_ptr() : mT(nullptr), mSubjectBase(nullptr)
+{
+  // Do nothing
+}
+
+//==============================================================================
+template <class T>
+sub_ptr<T>::sub_ptr(T* _ptr) : mT(nullptr), mSubjectBase(nullptr)
+{
+  set(_ptr);
+}
+
+//==============================================================================
+template <class T>
+sub_ptr<T>::sub_ptr(const sub_ptr& other) : mT(nullptr), mSubjectBase(nullptr)
+{
+  set(other.get());
+}
+
+//==============================================================================
+template <class T>
+sub_ptr<T>& sub_ptr<T>::operator=(const sub_ptr<T>& _sp)
+{
+  set(_sp.get());
+  return *this;
+}
+
+//==============================================================================
+template <class T>
+sub_ptr<T>& sub_ptr<T>::operator=(T* _ptr)
+{
+  set(_ptr);
+  return *this;
+}
+
+//==============================================================================
+template <class T>
+sub_ptr<T>::operator T*() const
+{
+  return mT;
+}
+
+//==============================================================================
+template <class T>
+T& sub_ptr<T>::operator*() const
+{
+  return *mT;
+}
+
+//==============================================================================
+template <class T>
+T* sub_ptr<T>::operator->() const
+{
+  return mT;
+}
+
+//==============================================================================
+template <class T>
+T* sub_ptr<T>::get() const
+{
+  return mT;
+}
+
+//==============================================================================
+template <class T>
+void sub_ptr<T>::set(T* _ptr)
+{
+  if (mT == _ptr)
+    return;
+
+  removeSubject(mSubjectBase);
+  mSubjectBase = dynamic_cast<Subject*>(_ptr);
+  mT = _ptr;
+  addSubject(mSubjectBase);
+}
+
+//==============================================================================
+template <class T>
+bool sub_ptr<T>::valid()
+{
+  return mT != nullptr;
+}
+
+//==============================================================================
+template <class T>
+void sub_ptr<T>::handleDestructionNotification(const Subject* _subject)
+{
+  if (_subject == mSubjectBase) {
+    mT = nullptr;
+    mSubjectBase = nullptr;
+  }
+}
+
+} // namespace common
+} // namespace dart
+
+#endif // DART_COMMON_DETAIL_SUB_PTR_HPP_

include/dart/common/sub_ptr.hpp

@@ -0,0 +1,103 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_COMMON_SUB_PTR_HPP_
+#define DART_COMMON_SUB_PTR_HPP_
+
+#include <dart/common/Observer.hpp>
+
+namespace dart {
+namespace common {
+
+/// sub_ptr is a pointer to a Subject. It can be used as a pointer to any class
+/// that publicly inherits Subject. If the instance that it is pointing to is
+/// ever destroyed, the sub_ptr class will start pointing to a nullptr. You can
+/// check the return of sub_ptr::valid() to see if the pointer is still valid.
+template <class T>
+class sub_ptr : public Observer
+{
+public:
+  /// Default constructor
+  sub_ptr();
+
+  /// Alternative constructor. _ptr must be a valid pointer when passed to this
+  /// constructor.
+  sub_ptr(T* _ptr);
+
+  /// User defined copy constructor
+  sub_ptr(const sub_ptr& other);
+
+  /// Change the Subject of this sub_ptr
+  sub_ptr& operator=(const sub_ptr& _sp);
+
+  /// Change the Subject of this sub_ptr
+  sub_ptr& operator=(T* _ptr);
+
+  /// Implicit conversion to pointer type
+  operator T*() const;
+
+  /// Dereferencing operator
+  T& operator*() const;
+
+  /// Dereferencing operation
+  T* operator->() const;
+
+  /// Get the Subject of this sub_ptr
+  T* get() const;
+
+  /// Set the subject of this sub_ptr
+  void set(T* _ptr);
+
+  /// True if and only if this sub_ptr still points to a valid Subject
+  bool valid();
+
+protected:
+  void handleDestructionNotification(const Subject* _subject) override;
+
+  /// Store the pointer to the full object
+  T* mT;
+
+  /// Store the pointer to the virtual Subject base
+  Subject* mSubjectBase;
+};
+
+} // namespace common
+
+// Make an alias for sub_ptr in the dart namespace for convenience
+template <class T>
+using sub_ptr = common::sub_ptr<T>;
+
+} // namespace dart
+
+#include <dart/common/detail/sub_ptr.hpp>
+
+#endif // DART_COMMON_SUB_PTR_HPP_

include/dart/config.hpp

@@ -0,0 +1,100 @@
+/* config.hpp. Generated by CMake for dart. */
+#pragma once
+
+/* Version number */
+#define DART_MAJOR_VERSION 
+#define DART_MINOR_VERSION 
+#define DART_PATCH_VERSION 
+
+#define DART_VERSION ".."
+#define DART_DESCRIPTION "Dynamic Animation and Robotics Toolkit."
+
+#define DART_VERSION_GT(x, y, z)                                               \
+  (DART_MAJOR_VERSION < x                                                      \
+   || (DART_MAJOR_VERSION <= x                                                 \
+       && (DART_MINOR_VERSION < y                                              \
+           || (DART_MINOR_VERSION <= y && DART_PATCH_VERSION < z))))
+
+#define DART_VERSION_GE(x, y, z)                                               \
+  (DART_MAJOR_VERSION > x                                                      \
+   || (DART_MAJOR_VERSION >= x                                                 \
+       && (DART_MINOR_VERSION > y                                              \
+           || (DART_MINOR_VERSION >= y && DART_PATCH_VERSION >= z))))
+
+#define DART_VERSION_LT(x, y, z)                                               \
+  (DART_MAJOR_VERSION > x                                                      \
+   || (DART_MAJOR_VERSION >= x                                                 \
+       && (DART_MINOR_VERSION > y                                              \
+           || (DART_MINOR_VERSION >= y && DART_PATCH_VERSION > z))))
+
+#define DART_VERSION_LE(x, y, z)                                               \
+  (DART_MAJOR_VERSION < x                                                      \
+   || (DART_MAJOR_VERSION <= x                                                 \
+       && (DART_MINOR_VERSION < y                                              \
+           || (DART_MINOR_VERSION <= y && DART_PATCH_VERSION <= z))))
+
+// Deprecated in 6.14
+#define DART_VERSION_AT_LEAST(x, y, z)                                         \
+  DART_VERSION_GE(x, y, z)
+
+// Deprecated in 6.14
+#define DART_MAJOR_MINOR_VERSION_AT_LEAST(x, y)                                \
+  (DART_MAJOR_VERSION > x                                                      \
+   || (DART_MAJOR_VERSION >= x                                                 \
+       && (DART_MINOR_VERSION > y || (DART_MINOR_VERSION >= y))))
+
+// Deprecated in 6.14
+#define DART_VERSION_AT_MOST(x, y, z)                                          \
+  DART_VERSION_LE(x, y, z)
+
+// Deprecated in 6.14
+#define DART_MAJOR_MINOR_VERSION_AT_MOST(x, y)                                 \
+  (DART_MAJOR_VERSION < x                                                      \
+   || (DART_MAJOR_VERSION <= x                                                 \
+       && (DART_MINOR_VERSION < y || (DART_MINOR_VERSION <= y))))
+
+// Detect the compiler
+#if defined(__clang__)
+  #define DART_COMPILER_CLANG
+#elif defined(__GNUC__) || defined(__GNUG__)
+  #define DART_COMPILER_GCC
+#elif defined(_MSC_VER)
+  #define DART_COMPILER_MSVC
+#endif
+
+// Indicates the build mode used for compiling
+#define DART_BUILD_MODE_DEBUG 0
+#define DART_BUILD_MODE_RELEASE 1
+
+#define HAVE_NLOPT 1
+#define HAVE_IPOPT 1
+#define HAVE_PAGMO 0
+#define HAVE_SNOPT 0
+#define HAVE_BULLET 1
+#define HAVE_ODE 1
+#define HAVE_OCTOMAP 1
+// TODO(JS): Change names to DART_HAVE_*
+// TODO(JS): Use target_compile_definitions(<target_name> PUBLIC
+// -DDART_HAVE_*=1)
+
+#define DART_ENABLE_SIMD 0
+
+// Deprecated in DART 6.2 and will be removed in DART 7.
+#define DART_ROOT_PATH "/home/jeongseok/dev/dartsim/dart/doc/"
+#define DART_DATA_PATH "/home/jeongseok/dev/dartsim/dart/doc/data/"
+
+#define DART_DATA_LOCAL_PATH "/home/jeongseok/dev/dartsim/dart/doc/data/"
+#define DART_DATA_GLOBAL_PATH                                                  \
+  "/tmp/tmpilc_nm36/wheel/platlib/share/doc/dart/data/"
+
+// See #451
+#define ASSIMP_AISCENE_CTOR_DTOR_DEFINED 1
+#define ASSIMP_AIMATERIAL_CTOR_DTOR_DEFINED 1
+
+// Workaround for the fact that Bullet does not add the definition to
+/* #undef header */
+/* #undef BT_USE_DOUBLE_PRECISION */
+
+#define DART_USE_SYSTEM_IMGUI 1
+
+#define DART_BUILD_PROFILE 0

include/dart/constraint/BalanceConstraint.hpp

@@ -0,0 +1,202 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_CONSTRAINT_BALANCECONSTRAINT_HPP_
+#define DART_CONSTRAINT_BALANCECONSTRAINT_HPP_
+
+#include <dart/dynamics/HierarchicalIK.hpp>
+
+namespace dart {
+namespace constraint {
+
+/// BalanceConstraint is a kinematic constraint function designed to be passed
+/// into a HierarchicalIK module. Adding this constraint to the Problem of a
+/// HierarchicalIK will allow the IK solver to constrain the Skeleton so that it
+/// satisfies a support polygon style balancing constraint.
+class BalanceConstraint : public optimizer::Function,
+                          public dynamics::HierarchicalIK::Function
+{
+public:
+  /// The ErrorMethod_t determines whether the error should be computed based on
+  /// the center of mass's distance from the centroid of the support polygon
+  /// (FROM_CENTROID) or the COM's distance from the edge of the support polygon
+  /// (FROM_EDGE). Note that once the center of mass is inside the support
+  /// polygon, the error will immediately drop to zero regardless of which is
+  /// chosen.
+  ///
+  /// Alternatively, choosing OPTIMIZE_BALANCE will not drop the error to zero
+  /// while inside the support polygon. Instead, it will try to drive the center
+  /// of mass to the centroid of the support polygon. The error will only drop
+  /// to zero once it is within a certain tolerance of the centroid. The
+  /// tolerance can be set by using setOptimizationTolerance(). This method is
+  /// ideal for use as an Objective function to improve the quality of a
+  /// configuration rather than as a constraint function.
+  enum ErrorMethod_t
+  {
+    FROM_CENTROID = 0,
+    FROM_EDGE,
+    OPTIMIZE_BALANCE
+  };
+
+  /// The BalanceMethod_t determines whether balancing should be achieved by
+  /// shifting the locations of the supporting EndEffectors or by shifting the
+  /// center of mass without moving the support locations.
+  ///
+  /// Note that if the BalanceMethod_t is SHIFT_SUPPORT, then its behavior will
+  /// change significantly based on the ErrorMethod_t: if the ErrorMethod_t is
+  /// FROM_CENTROID or OPTIMIZE BALANCE, then all support points will be shifted
+  /// towards the center of mass simultaneously. However, if the ErrorMethod_t
+  /// is FROM_EDGE, then only the EndEffector that is closest to the center of
+  /// mass will be shifted.
+  enum BalanceMethod_t
+  {
+    SHIFT_SUPPORT = 0,
+    SHIFT_COM
+  };
+
+  /// Constructor
+  BalanceConstraint(
+      const std::shared_ptr<dynamics::HierarchicalIK>& _ik,
+      BalanceMethod_t _balanceMethod = SHIFT_SUPPORT,
+      ErrorMethod_t _errorMethod = FROM_CENTROID);
+
+  /// Virtual destructor
+  virtual ~BalanceConstraint() = default;
+
+  // Documentation inherited
+  optimizer::FunctionPtr clone(
+      const std::shared_ptr<dynamics::HierarchicalIK>& _newIK) const override;
+
+  // Documentation inherited
+  double eval(const Eigen::VectorXd& _x) override;
+
+  // Documentation inherited
+  void evalGradient(
+      const Eigen::VectorXd& _x, Eigen::Map<Eigen::VectorXd> _grad) override;
+
+  /// Set the method that this constraint function will use to compute the
+  /// error. See the ErrorMethod_t docs for more information.
+  void setErrorMethod(ErrorMethod_t _method);
+
+  /// Get the method that this constraint function will use to compute the
+  /// error.
+  ErrorMethod_t getErrorMethod() const;
+
+  /// Set the method that this constraint function will use to achieve balance.
+  /// See the BalanceMethod_t docs for more information.
+  void setBalanceMethod(BalanceMethod_t _method);
+
+  /// Get the method that this constraint function will use to achieve balance.
+  BalanceMethod_t getBalanceMethod() const;
+
+  /// Set the tolerance for how far the center of mass can be from the support
+  /// polygon centroid before the balance is considered optimized.
+  void setOptimizationTolerance(double _tol);
+
+  /// Get the tolerance for how far the center of mass can be from the support
+  /// polygon centroid before the balance is considered optimized.
+  double getOptimizationTolerance() const;
+
+  /// Set the damping factor that will be used when computing the pseudoinverse
+  void setPseudoInverseDamping(double _damping);
+
+  /// Get the damping factor that will be used when computing the pseudoinverse
+  double getPseudoInverseDamping() const;
+
+  /// Get the last error vector that was computed by this BalanceConstraint
+  const Eigen::Vector3d& getLastError() const;
+
+  /// Clear the caches to force the error computation to update. It should not
+  /// generally be necessary to call this function.
+  void clearCaches();
+
+protected:
+  /// Convert the gradient that gets generated via Jacobian methods into a
+  /// gradient that can be used by a GradientDescentSolver.
+  void convertJacobianMethodOutputToGradient(Eigen::Map<Eigen::VectorXd>& grad);
+
+  /// Pointer to the hierarchical IK that owns this Function. Note that this
+  /// Function does not work correctly without a HierarchicalIK.
+  std::weak_ptr<dynamics::HierarchicalIK> mIK;
+
+  /// The method that will be used to compute error
+  ErrorMethod_t mErrorMethod;
+
+  /// The method that will be used for balance
+  BalanceMethod_t mBalanceMethod;
+
+  /// The tolerance allowed before optimization is considered successful
+  double mOptimizationTolerance;
+
+  /// The damping factor for the pseudoinverse
+  double mDamping;
+
+  /// The indices of the supporting end effectors that are closest to the center
+  /// of mass. These are used when using FROM_EDGE
+  std::size_t mClosestEndEffector[2];
+
+  /// The error vector points away from the direction that the center of mass
+  /// should move in order to reduce the balance error
+  Eigen::Vector3d mLastError;
+
+  /// The last computed location of the center of mass
+  Eigen::Vector3d mLastCOM;
+
+  /// The last version of the support polygon that was computed
+  std::size_t mLastSupportVersion;
+
+  /// Cache for the center of mass Jacobian so that the memory space does not
+  /// need to be reallocated each loop
+  math::LinearJacobian mComJacCache;
+
+  /// Cache for the end effector Jacobians so the space does not need to be
+  /// reallocated each loop
+  math::LinearJacobian mEEJacCache;
+
+  /// Cache for the SVD
+  Eigen::JacobiSVD<math::LinearJacobian> mSVDCache;
+
+  /// Cache for the full null space
+  Eigen::MatrixXd mNullSpaceCache;
+
+  /// Cache for an individual null space
+  Eigen::MatrixXd mPartialNullSpaceCache;
+
+  /// Cache used by convertJacobianMethodOutputToGradient to avoid reallocating
+  /// this vector on each iteration.
+  Eigen::VectorXd mInitialPositionsCache;
+};
+
+} // namespace constraint
+} // namespace dart
+
+#endif // DART_CONSTRAINT_BALANCECONSTRAINT_HPP_