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constraint-equality.hpp
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1//
2// Copyright (c) 2017 CNRS
3//
4// This file is part of tsid
5// tsid is free software: you can redistribute it
6// and/or modify it under the terms of the GNU Lesser General Public
7// License as published by the Free Software Foundation, either version
8// 3 of the License, or (at your option) any later version.
9// tsid is distributed in the hope that it will be
10// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
11// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12// General Lesser Public License for more details. You should have
13// received a copy of the GNU Lesser General Public License along with
14// tsid. If not, see
15// <http://www.gnu.org/licenses/>.
16//
17
18#ifndef __invdyn_math_constraint_equality_hpp__
19#define __invdyn_math_constraint_equality_hpp__
20
22
23namespace tsid
24{
25 namespace math
26 {
27
29 {
30 public:
31 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
32
33 ConstraintEquality(const std::string & name);
34
35 ConstraintEquality(const std::string & name,
36 const unsigned int rows,
37 const unsigned int cols);
38
39 ConstraintEquality(const std::string & name,
43
44 unsigned int rows() const;
45 unsigned int cols() const;
46 void resize(const unsigned int r, const unsigned int c);
47
48 bool isEquality() const;
49 bool isInequality() const;
50 bool isBound() const;
51
52 const Vector & vector() const;
53 const Vector & lowerBound() const;
54 const Vector & upperBound() const;
55
56 Vector & vector();
59
63
64 bool checkConstraint(ConstRefVector x, double tol=1e-6) const;
65
66 protected:
68 };
69
70 }
71}
72
73#endif // ifndef __invdyn_math_constraint_equality_hpp__
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:37
virtual const std::string & name() const
Definition: constraint-base.cpp:39
Definition: constraint-equality.hpp:29
virtual ~ConstraintEquality()
Definition: constraint-equality.hpp:42
bool setVector(ConstRefVector b)
Definition: constraint-equality.cpp:71
bool isBound() const
Definition: constraint-equality.cpp:61
const Vector & lowerBound() const
Definition: constraint-equality.cpp:64
void resize(const unsigned int r, const unsigned int c)
Definition: constraint-equality.cpp:53
bool isInequality() const
Definition: constraint-equality.cpp:60
const Vector & upperBound() const
Definition: constraint-equality.cpp:65
bool checkConstraint(ConstRefVector x, double tol=1e-6) const
Definition: constraint-equality.cpp:75
unsigned int cols() const
Definition: constraint-equality.cpp:48
bool isEquality() const
Definition: constraint-equality.cpp:59
Vector m_b
Definition: constraint-equality.hpp:67
bool setUpperBound(ConstRefVector ub)
Definition: constraint-equality.cpp:73
unsigned int rows() const
Definition: constraint-equality.cpp:42
const Vector & vector() const
Definition: constraint-equality.cpp:63
bool setLowerBound(ConstRefVector lb)
Definition: constraint-equality.cpp:72
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
const Eigen::Ref< const Matrix > ConstRefMatrix
Definition: fwd.hpp:53
const Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
Definition: constraint-bound.hpp:27