wbc::JointLimitsVelocityConstraint Class Reference

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

#include <JointLimitsVelocityConstraint.hpp>

Inheritance diagram for wbc::JointLimitsVelocityConstraint:

Public Member Functions
	JointLimitsVelocityConstraint ()
	Default constructor.
	JointLimitsVelocityConstraint (double dt)
virtual	~JointLimitsVelocityConstraint ()=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
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

JointLimitsVelocityConstraint() [1/2]

wbc::JointLimitsVelocityConstraint::JointLimitsVelocityConstraint ( )

inline

Default constructor.

JointLimitsVelocityConstraint() [2/2]

wbc::JointLimitsVelocityConstraint::JointLimitsVelocityConstraint

(

double

dt

)

~JointLimitsVelocityConstraint()

virtual wbc::JointLimitsVelocityConstraint::~JointLimitsVelocityConstraint ( )

virtualdefault

Member Function Documentation

update()

void wbc::JointLimitsVelocityConstraint::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::JointLimitsVelocityConstraint::dt

protected

Control timestep: used to integrate and differentiate velocities

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

• src/constraints/JointLimitsVelocityConstraint.hpp
• src/constraints/JointLimitsVelocityConstraint.cpp