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). More...
#include </local/robotpkg/var/tmp/robotpkg/interfaces/abstract-gik-task/work/abstract-gik-task-2.7/interfaces/jrlLinearConstraint.h>
Public Member Functions | |
virtual unsigned int | dimension () const =0 |
Get the dimension of the constraint. | |
virtual const vectorN & | value ()=0 |
Get the constraint value. | |
virtual const matrixNxP & | jacobian ()=0 |
Get the constraint Jacobian. | |
virtual | ~CjrlLinearConstraint () |
Destructor. |
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).
virtual CjrlLinearConstraint::~CjrlLinearConstraint | ( | ) | [inline, virtual] |
Destructor.
virtual unsigned int CjrlLinearConstraint::dimension | ( | ) | const [pure virtual] |
Get the dimension of the constraint.
virtual const matrixNxP& CjrlLinearConstraint::jacobian | ( | ) | [pure virtual] |
Get the constraint Jacobian.
virtual const vectorN& CjrlLinearConstraint::value | ( | ) | [pure virtual] |
Get the constraint value.