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>
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... | |
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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inlinevirtual |
Destructor
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pure virtual |
Get the dimension of the constraint.
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pure virtual |
Get the constraint Jacobian
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pure virtual |
Get the constraint value.