CjrlLinearConstraint Class Reference

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>

Inheritance diagram for CjrlLinearConstraint:

List of all members.

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.

Detailed Description

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).


Constructor & Destructor Documentation

virtual CjrlLinearConstraint::~CjrlLinearConstraint ( ) [inline, virtual]

Destructor.


Member Function Documentation

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.