Class ConstraintToTask

• Defined in File ConstraintToTask.h

Inheritance Relationships

Base Type

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

Class Documentation

class ConstraintToTask : public OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>

Public Functions

ConstraintToTask(ConstraintPtr constraint, std::function<const Eigen::VectorXd&()>)

virtual void _update() override

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