Class GenericConstraint

• Defined in File GenericConstraint.h

Inheritance Relationships

Base Type

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

Class Documentation

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

Public Types

enum class Type

Values:

enumerator BOUND

The GenericConstraint is of the type: lb <= x <= ub.

enumerator CONSTRAINT

The GenericConstraint is of the type: L <= Ax <= U.

typedef std::shared_ptr<GenericConstraint> Ptr

Public Functions

GenericConstraint(std::string constraint_id, const Eigen::VectorXd &upper_bound, const Eigen::VectorXd &lower_bound, const int x_size)

GenericConstraint specific constructor for BOUND type.

Parameters

• constraint_id –

• upper_bound –

• lower_bound –

GenericConstraint(std::string constraint_id, const AffineHelper &variable, const Eigen::VectorXd &upper_bound, const Eigen::VectorXd &lower_bound, const Type constraint_type)

bool setConstraint(const AffineHelper &var, const Eigen::VectorXd &upper_bound, const Eigen::VectorXd &lower_bound)

bool setBounds(const Eigen::VectorXd &upper_bound, const Eigen::VectorXd &lower_bound)

virtual void update()

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

inline Type getType()