wbc
JointLimitsAccelerationConstraint.hpp
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1#ifndef WBC_CORE_JOINT_LIMIT_ACCELERATION_CONSTRAINT_HPP
2#define WBC_CORE_JOINT_LIMIT_ACCELERATION_CONSTRAINT_HPP
3
5#include <memory>
6
7namespace wbc{
8
13public:
14
18
19 explicit JointLimitsAccelerationConstraint(double dt, bool reduced=false);
20
22
23 virtual void update(RobotModelPtr robot_model) override;
24
25protected:
26
28 double dt;
29 bool reduced;
31};
32typedef std::shared_ptr<JointLimitsAccelerationConstraint> JointLimitsAccelerationConstraintPtr;
33
34} // namespace wbc
35#endif // WBC_CORE_JOINT_LIMIT_ACCELERATION_CONSTRAINT_HPP
@ bounds
Definition Constraint.hpp:23
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 JointLimitsAccelerationConstraint.cpp:13
types::JointLimits joint_limits
Definition JointLimitsAccelerationConstraint.hpp:30
JointLimitsAccelerationConstraint(bool reduced=false)
Default constructor.
Definition JointLimitsAccelerationConstraint.hpp:16
virtual ~JointLimitsAccelerationConstraint()=default
bool reduced
Definition JointLimitsAccelerationConstraint.hpp:29
double dt
Definition JointLimitsAccelerationConstraint.hpp:28
Definition JointLimits.hpp:29
Definition ContactsAccelerationConstraint.cpp:3
std::shared_ptr< RobotModel > RobotModelPtr
Definition RobotModel.hpp:315
std::shared_ptr< JointLimitsAccelerationConstraint > JointLimitsAccelerationConstraintPtr
Definition JointLimitsAccelerationConstraint.hpp:32