wbc::JointLimitsAccelerationConstraint Class Reference

Abstract class to represent a generic hard constraint for a WBC optimization problem. More...

#include <JointLimitsAccelerationConstraint.hpp>

Inheritance diagram for wbc::JointLimitsAccelerationConstraint:

Public Member Functions
	JointLimitsAccelerationConstraint (bool reduced=false)
	Default constructor.
	JointLimitsAccelerationConstraint (double dt, bool reduced=false)
virtual	~JointLimitsAccelerationConstraint ()=default
virtual void	update (RobotModelPtr robot_model) override
	Update constraint matrix and vectors, depending on the type. Abstract method.
Public Member Functions inherited from wbc::Constraint
virtual	~Constraint ()=default
Type	type ()
	Return the type of this constraint.
const base::MatrixXd &	A ()
	return constraint matrix A
const base::VectorXd &	b ()
	return constraint vector b
const base::VectorXd &	lb ()
	return constraint lower bound lb
const base::VectorXd &	ub ()
	return constraint upper bound ub
uint	size ()
	return size of the constraint (i.e. number of rows of the constraint matrix)

Protected Attributes
double	dt
bool	reduced
Protected Attributes inherited from wbc::Constraint
Type	c_type
base::MatrixXd	A_mtx
base::VectorXd	b_vec
base::VectorXd	lb_vec
base::VectorXd	ub_vec

Additional Inherited Members
Public Types inherited from wbc::Constraint
enum	Type { equality = 0 , inequality = 1 , bounds = 2 }
Protected Member Functions inherited from wbc::Constraint
	Constraint ()
	Default constructor.
	Constraint (Type type)
	Constructor. Initialiye the type of this constraint.

Detailed Description

Abstract class to represent a generic hard constraint for a WBC optimization problem.

Constructor & Destructor Documentation

JointLimitsAccelerationConstraint() [1/2]

wbc::JointLimitsAccelerationConstraint::JointLimitsAccelerationConstraint ( bool reduced = false )

inlineexplicit

Default constructor.

JointLimitsAccelerationConstraint() [2/2]

wbc::JointLimitsAccelerationConstraint::JointLimitsAccelerationConstraint ( double dt, bool reduced = false )

explicit

~JointLimitsAccelerationConstraint()

virtual wbc::JointLimitsAccelerationConstraint::~JointLimitsAccelerationConstraint ( )

virtualdefault

Member Function Documentation

update()

void wbc::JointLimitsAccelerationConstraint::update ( RobotModelPtr robot_model )

overridevirtual

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

Implements wbc::Constraint.

Member Data Documentation

dt

double wbc::JointLimitsAccelerationConstraint::dt

protected

Control timestep: used to integrate and differentiate velocities

reduced

bool wbc::JointLimitsAccelerationConstraint::reduced

protected

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

• src/constraints/JointLimitsAccelerationConstraint.hpp
• src/constraints/JointLimitsAccelerationConstraint.cpp