wbc::RigidbodyDynamicsConstraint Class Reference

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

#include <RigidbodyDynamicsConstraint.hpp>

Inheritance diagram for wbc::RigidbodyDynamicsConstraint:

Public Member Functions
	RigidbodyDynamicsConstraint (bool reduced=false, uint dim_contact=3)
	Default constructor.
virtual	~RigidbodyDynamicsConstraint ()=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 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 Attributes
bool	reduced
uint	dim_contact
Protected Attributes inherited from wbc::Constraint
Type	c_type
Eigen::MatrixXd	A_mtx
Eigen::VectorXd	b_vec
Eigen::VectorXd	lb_vec
Eigen::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

RigidbodyDynamicsConstraint()

wbc::RigidbodyDynamicsConstraint::RigidbodyDynamicsConstraint ( bool reduced = false, uint dim_contact = 3 )

inlineexplicit

Default constructor.

~RigidbodyDynamicsConstraint()

virtual wbc::RigidbodyDynamicsConstraint::~RigidbodyDynamicsConstraint ( )

virtualdefault

Member Function Documentation

update()

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

overridevirtual

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

Implements wbc::Constraint.

Member Data Documentation

dim_contact

uint wbc::RigidbodyDynamicsConstraint::dim_contact

protected

reduced

bool wbc::RigidbodyDynamicsConstraint::reduced

protected

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

• src/constraints/RigidbodyDynamicsConstraint.hpp
• src/constraints/RigidbodyDynamicsConstraint.cpp