JointLimitsAccelerationConstraint.hpp

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#ifndef JOINT_LIMIT_ACCELERATION_CONSTRAINT_HPP
#define JOINT_LIMIT_ACCELERATION_CONSTRAINT_HPP
 
#include "../core/Constraint.hpp"
 
#include <base/Eigen.hpp>
#include <base/Time.hpp>
#include <base/NamedVector.hpp>
#include <memory>
 
namespace wbc{
 
class JointLimitsAccelerationConstraint : public Constraint {
public:
 
    explicit JointLimitsAccelerationConstraint(bool reduced=false) 
        : Constraint(Constraint::bounds), reduced(reduced) { }
    
    explicit JointLimitsAccelerationConstraint(double dt, bool reduced=false);
 
    virtual ~JointLimitsAccelerationConstraint() = default;
 
    virtual void update(RobotModelPtr robot_model) override;
 
protected:
 
    double dt;
 
    bool reduced;
 
};
typedef std::shared_ptr<JointLimitsAccelerationConstraint> JointLimitsAccelerationConstraintPtr;
 
} // namespace wbc
#endif