A linear constraint is an object that returns a m-by-n matrix and an m-vector defining a linear system of equality of inequality constraints (determined by context).
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#include </local/robotpkg/var/tmp/robotpkg/interfaces/abstract-gik-task/work/abstract-gik-task-2.7/interfaces/jrlLinearConstraint.h>
A linear constraint is an object that returns a m-by-n matrix and an m-vector defining a linear system of equality of inequality constraints (determined by context).
◆ ~CjrlLinearConstraint()
virtual CjrlLinearConstraint::~CjrlLinearConstraint |
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inlinevirtual |
◆ dimension()
virtual unsigned int CjrlLinearConstraint::dimension |
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const |
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pure virtual |
Get the dimension of the constraint.
◆ jacobian()
virtual const matrixNxP & CjrlLinearConstraint::jacobian |
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pure virtual |
Get the constraint Jacobian.
◆ value()
virtual const vectorN & CjrlLinearConstraint::value |
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pure virtual |
Get the constraint value.