EffortLimitsAccelerationConstraint.hpp

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#ifndef WBC_CORE_EFFORT_LIMIT_ACCELERATION_CONSTRAINT_HPP
#define WBC_CORE_EFFORT_LIMIT_ACCELERATION_CONSTRAINT_HPP
 
#include "../core/Constraint.hpp"
#include "../types/JointLimits.hpp"
#include <memory>
 
namespace wbc{

class EffortLimitsAccelerationConstraint : public Constraint {
protected:
    types::JointLimits joint_limits;
public:

    EffortLimitsAccelerationConstraint(uint dim_contact) 
        : Constraint(Constraint::inequality), dim_contact(dim_contact) { }
 
    virtual ~EffortLimitsAccelerationConstraint() = default;
 
    virtual void update(RobotModelPtr robot_model) override;
 
protected:
    uint dim_contact;
 
};
typedef std::shared_ptr<EffortLimitsAccelerationConstraint> EffortLimitsAccelerationConstraintPtr;
 
} // namespace wbc
#endif // WBC_CORE_EFFORT_LIMIT_ACCELERATION_CONSTRAINT_HPP