wbc::Constraint Class Reference

Abstract class to represent a generic hard (linear) constraint for a WBC optimization problem. the constraint belongs to one of three types: equality Ax = b inequality lb <= Ax <= ub bounds lb <= x <= ub. More...

#include <Constraint.hpp>

Inheritance diagram for wbc::Constraint:

Public Types
enum	Type { equality = 0 , inequality = 1 , bounds = 2 }

Public Member Functions
virtual	~Constraint ()=default
virtual void	update (RobotModelPtr robot_model)=0
	Update constraint matrix and vectors, depending on the type. Abstract method.
Type	type ()
	Return the type of this constraint.
const Eigen::MatrixXd &	A ()
	return constraint matrix A
const Eigen::VectorXd &	b ()
	return constraint vector b
const Eigen::VectorXd &	lb ()
	return constraint lower bound lb
const Eigen::VectorXd &	ub ()
	return constraint upper bound ub
uint	size ()
	return size of the constraint (i.e. number of rows of the constraint matrix)

Protected Member Functions
	Constraint ()
	Default constructor.
	Constraint (Type type)
	Constructor. Initialiye the type of this constraint.

Protected Attributes
Type	c_type
Eigen::MatrixXd	A_mtx
Eigen::VectorXd	b_vec
Eigen::VectorXd	lb_vec
Eigen::VectorXd	ub_vec

Detailed Description

Abstract class to represent a generic hard (linear) constraint for a WBC optimization problem. the constraint belongs to one of three types: equality Ax = b inequality lb <= Ax <= ub bounds lb <= x <= ub.

Member Enumeration Documentation

Type

enum wbc::Constraint::Type

Enumerator
equality
inequality
bounds

Constructor & Destructor Documentation

~Constraint()

virtual wbc::Constraint::~Constraint ( )

virtualdefault

Constraint() [1/2]

wbc::Constraint::Constraint ( )

protected

Default constructor.

Constraint() [2/2]

wbc::Constraint::Constraint ( Type type )

protected

Constructor. Initialiye the type of this constraint.

Member Function Documentation

A()

const Eigen::MatrixXd & wbc::Constraint::A

(

)

return constraint matrix A

b()

const Eigen::VectorXd & wbc::Constraint::b

(

)

return constraint vector b

lb()

const Eigen::VectorXd & wbc::Constraint::lb

(

)

return constraint lower bound lb

size()

uint wbc::Constraint::size

(

)

return size of the constraint (i.e. number of rows of the constraint matrix)

type()

Constraint::Type wbc::Constraint::type

(

)

Return the type of this constraint.

ub()

const Eigen::VectorXd & wbc::Constraint::ub

(

)

return constraint upper bound ub

update()

virtual void wbc::Constraint::update ( RobotModelPtr robot_model )

pure virtual

Update constraint matrix and vectors, depending on the type. Abstract method.

Implemented in wbc::ContactsAccelerationConstraint, wbc::ContactsFrictionPointConstraint, wbc::ContactsFrictionSurfaceConstraint, wbc::ContactsVelocityConstraint, wbc::EffortLimitsAccelerationConstraint, wbc::JointLimitsAccelerationConstraint, wbc::JointLimitsVelocityConstraint, and wbc::RigidbodyDynamicsConstraint.

Member Data Documentation

A_mtx

Eigen::MatrixXd wbc::Constraint::A_mtx

protected

Constraint matrix

b_vec

Eigen::VectorXd wbc::Constraint::b_vec

protected

Constraint vector

c_type

Type wbc::Constraint::c_type

protected

lb_vec

Eigen::VectorXd wbc::Constraint::lb_vec

protected

Constraint lower bound

ub_vec

Eigen::VectorXd wbc::Constraint::ub_vec

protected

Constraint upper bound

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The documentation for this class was generated from the following files:

• src/core/Constraint.hpp
• src/core/Constraint.cpp