JointLimitsAccelerationConstraint.hpp

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

class JointLimitsAccelerationConstraint : public Constraint {
public:

    explicit JointLimitsAccelerationConstraint(bool reduced=false, uint dim_contact = 3) 
        : Constraint(Constraint::bounds), reduced(reduced), dim_contact(dim_contact) { }
    
    explicit JointLimitsAccelerationConstraint(double dt, bool reduced=false, uint dim_contact = 3);
 
    virtual ~JointLimitsAccelerationConstraint() = default;
 
    virtual void update(RobotModelPtr robot_model) override;
 
protected:

    double dt;
    bool reduced;
    uint dim_contact;
    types::JointLimits joint_limits;
};
typedef std::shared_ptr<JointLimitsAccelerationConstraint> JointLimitsAccelerationConstraintPtr;
 
} // namespace wbc
#endif // WBC_CORE_JOINT_LIMIT_ACCELERATION_CONSTRAINT_HPP