Class SubConstraint
Defined in File SubConstraint.h
Inheritance Relationships
Base Type
public OpenSoT::Constraint< Eigen::MatrixXd, Eigen::VectorXd >(Template Class Constraint)
Class Documentation
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class SubConstraint : public OpenSoT::Constraint<Eigen::MatrixXd, Eigen::VectorXd>
Public Types
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typedef std::shared_ptr<OpenSoT::SubConstraint> Ptr
Public Functions
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SubConstraint(ConstraintPtr constrPtr, const std::list<unsigned int> rowIndices)
SubConstraint create a SubConstraint object by specifying the father Consatrint through a pointer, and a list of row indices.
Notice the row indices start from 0 (c style)
- Parameters
constrPtr – a pointer to the father constraint
rowIndices – a list of indices. The index to the first row is 0.
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inline virtual ~SubConstraint()
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virtual void update()
Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.
Protected Functions
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void generateBound(const Eigen::VectorXd &bound, Eigen::VectorXd &sub_bound)
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void generateConstraint(const Eigen::MatrixXd &A, Eigen::MatrixXd &sub_A)
Protected Static Attributes
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static const std::string _SUBCONSTRAINT_SEPARATION_
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typedef std::shared_ptr<OpenSoT::SubConstraint> Ptr