Class BilateralConstraint

Inheritance Relationships

Base Type

Derived Type

Class Documentation

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

The BilateralConstraint class implements a constraint of the form bLowerBound <= Aineq*x <= bUpperbound.

Subclassed by OpenSoT::constraints::TaskToConstraint

Public Types

typedef std::shared_ptr<BilateralConstraint> Ptr

Public Functions

BilateralConstraint(const Eigen::MatrixXd &Aineq, const Eigen::VectorXd &bLowerBound, const Eigen::VectorXd &bUpperBound)

BilateralConstraint a bilateral constraint.

Parameters

  • Aineq – constraint matrix. Number of columns must be > 0

  • bLowerBound – lower bound vector. Number of rows must be the same size as the number of rows of Aineq

  • bUpperBound – upper bound vector. Number of rows must be the same size as the number of rows of Aineq

BilateralConstraint(const std::string constraintName, const Eigen::MatrixXd &Aineq, const Eigen::VectorXd &bLowerBound, const Eigen::VectorXd &bUpperBound)

BilateralConstraint a bilateral constraint.

Parameters

  • constraintName – the name of the constraint

  • Aineq – constraint matrix. Number of columns must be > 0

  • bLowerBound – lower bound vector. Number of rows must be the same size as the number of rows of Aineq

  • bUpperBound – upper bound vector. Number of rows must be the same size as the number of rows of Aineq

Protected Functions

inline virtual void _log(XBot::MatLogger2::Ptr logger)

_log can be used to log internal Constraint variables

Parameters

logger – a shared pointer to a MatLogger