wbc
EffortLimitsAccelerationConstraint.hpp
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1#ifndef WBC_CORE_EFFORT_LIMIT_ACCELERATION_CONSTRAINT_HPP
2#define WBC_CORE_EFFORT_LIMIT_ACCELERATION_CONSTRAINT_HPP
3
6#include <memory>
7
8namespace wbc{
9
17protected:
19public:
20
24
26
27 virtual void update(RobotModelPtr robot_model) override;
28
29};
30typedef std::shared_ptr<EffortLimitsAccelerationConstraint> EffortLimitsAccelerationConstraintPtr;
31
32} // namespace wbc
33#endif // WBC_CORE_EFFORT_LIMIT_ACCELERATION_CONSTRAINT_HPP
@ inequality
Definition Constraint.hpp:22
Constraint()
Default constructor.
Definition Constraint.cpp:5
virtual void update(RobotModelPtr robot_model) override
Update constraint matrix and vectors, depending on the type. Abstract method.
Definition EffortLimitsAccelerationConstraint.cpp:5
types::JointLimits joint_limits
Definition EffortLimitsAccelerationConstraint.hpp:18
virtual ~EffortLimitsAccelerationConstraint()=default
EffortLimitsAccelerationConstraint()
Default constructor.
Definition EffortLimitsAccelerationConstraint.hpp:22
Definition JointLimits.hpp:29
Definition ContactsAccelerationConstraint.cpp:3
std::shared_ptr< EffortLimitsAccelerationConstraint > EffortLimitsAccelerationConstraintPtr
Definition EffortLimitsAccelerationConstraint.hpp:30
std::shared_ptr< RobotModel > RobotModelPtr
Definition RobotModel.hpp:315