CjrlLinearConstraint Class Referenceabstract


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:

Public Member Functions

virtual unsigned int dimension () const =0
 
Get the dimension of the constraint. More...
 
virtual const vectorN & value ()=0
 
Get the constraint value. More...
 
virtual const matrixNxP & jacobian ()=0
 
Get the constraint Jacobian More...
 
virtual ~CjrlLinearConstraint ()
 
Destructor More...
 

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

◆ ~CjrlLinearConstraint()

virtual CjrlLinearConstraint::~CjrlLinearConstraint ( )
inlinevirtual


Destructor

Member Function Documentation

◆ dimension()

virtual unsigned int CjrlLinearConstraint::dimension ( ) const
pure virtual


Get the dimension of the constraint.

◆ jacobian()

virtual const matrixNxP& CjrlLinearConstraint::jacobian ( )
pure virtual


Get the constraint Jacobian

◆ value()

virtual const vectorN& CjrlLinearConstraint::value ( )
pure virtual


Get the constraint value.