1#ifndef WBC_CORE_CONSTRAINT_HPP
2#define WBC_CORE_CONSTRAINT_HPP
35 const Eigen::MatrixXd&
A();
38 const Eigen::VectorXd&
b();
41 const Eigen::VectorXd&
lb();
44 const Eigen::VectorXd&
ub();
Eigen::VectorXd b_vec
Definition Constraint.hpp:63
Type c_type
Definition Constraint.hpp:57
Type
Definition Constraint.hpp:20
@ bounds
Definition Constraint.hpp:23
@ inequality
Definition Constraint.hpp:22
@ equality
Definition Constraint.hpp:21
const Eigen::MatrixXd & A()
return constraint matrix A
Definition Constraint.cpp:19
Constraint()
Default constructor.
Definition Constraint.cpp:5
Eigen::VectorXd ub_vec
Definition Constraint.hpp:69
const Eigen::VectorXd & b()
return constraint vector b
Definition Constraint.cpp:23
Eigen::VectorXd lb_vec
Definition Constraint.hpp:66
Type type()
Return the type of this constraint.
Definition Constraint.cpp:15
const Eigen::VectorXd & lb()
return constraint lower bound lb
Definition Constraint.cpp:27
Eigen::MatrixXd A_mtx
Definition Constraint.hpp:60
virtual void update(RobotModelPtr robot_model)=0
Update constraint matrix and vectors, depending on the type. Abstract method.
virtual ~Constraint()=default
const Eigen::VectorXd & ub()
return constraint upper bound ub
Definition Constraint.cpp:31
uint size()
return size of the constraint (i.e. number of rows of the constraint matrix)
Definition Constraint.cpp:35
Definition ContactsAccelerationConstraint.cpp:3
std::shared_ptr< Constraint > ConstraintPtr
Definition Constraint.hpp:72
std::shared_ptr< RobotModel > RobotModelPtr
Definition RobotModel.hpp:315