.. _exhale_class_classOpenSoT_1_1constraints_1_1BilateralConstraint:

Class BilateralConstraint
=========================

- Defined in :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_constraints_BilateralConstraint.h`


Inheritance Relationships
-------------------------

Base Type
*********

- ``public OpenSoT::Constraint< Eigen::MatrixXd, Eigen::VectorXd >`` (:ref:`exhale_class_classOpenSoT_1_1Constraint`)


Derived Type
************

- ``public OpenSoT::constraints::TaskToConstraint`` (:ref:`exhale_class_classOpenSoT_1_1constraints_1_1TaskToConstraint`)


Class Documentation
-------------------


.. doxygenclass:: OpenSoT::constraints::BilateralConstraint
   :project: OpenSoT
   :members:
   :protected-members:
   :undoc-members: