Class AffineConstraint

• Defined in File AffineUtils.h

Inheritance Relationships

Base Type

• public OpenSoT::Constraint< Eigen::MatrixXd, Eigen::VectorXd > (Template Class Constraint)

Class Documentation

class AffineConstraint : public OpenSoT::Constraint<Eigen::MatrixXd, Eigen::VectorXd>

Public Types

typedef std::shared_ptr<AffineConstraint> Ptr

Public Functions

AffineConstraint(const OpenSoT::constraints::Aggregated::ConstraintPtr &constraint, const AffineHelper &var)

virtual void update()

Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

~AffineConstraint()

inline OpenSoT::constraints::Aggregated::ConstraintPtr &getConstraint()

Public Static Functions

static AffineConstraint::Ptr toAffine(const OpenSoT::constraints::Aggregated::ConstraintPtr &constraint, const AffineHelper &var)