Class priority_constraint

Defined in File l1HQP.h

Inheritance Relationships

Base Type

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

Class Documentation

class priority_constraint : public OpenSoT::Constraint<Eigen::MatrixXd, Eigen::VectorXd>

The priority_constraint class implements the priority constraint:

     c1't1 >= c2't2

Public Types

typedef std::shared_ptr<priority_constraint> Ptr

Public Functions

priority_constraint(const std::string &id, const OpenSoT::tasks::GenericLPTask::Ptr high_priority_task, const OpenSoT::tasks::GenericLPTask::Ptr low_priority_task)

virtual void update(): Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.