Class task_to_constraint_helper
Defined in File l1HQP.h
Inheritance Relationships
Base Type
public OpenSoT::Constraint< Eigen::MatrixXd, Eigen::VectorXd >(Template Class Constraint)
Class Documentation
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class task_to_constraint_helper : public OpenSoT::Constraint<Eigen::MatrixXd, Eigen::VectorXd>
Public Types
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typedef std::shared_ptr<task_to_constraint_helper> Ptr
Public Functions
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task_to_constraint_helper(std::string id, OpenSoT::tasks::Aggregated::TaskPtr &task, const AffineHelper &x, const AffineHelper &t)
task_to_constraint_helper is an helper class to transform tasks from the form: Ax - b = 0 to: -Mt <= Ax - b <= Mt 0 <= t <= 1
- Parameters
id – internal name of the task
task – a Task pointer
x – task variable
t – extra variable
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virtual void update()
Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.
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typedef std::shared_ptr<task_to_constraint_helper> Ptr