ORCA: Optimization-based framework for Robotic Control Applications
Public Member Functions | Protected Attributes | List of all members
orca::math::ConstraintFunction Class Reference

#include <ConstraintFunction.h>

+ Inheritance diagram for orca::math::ConstraintFunction:
+ Collaboration diagram for orca::math::ConstraintFunction:

Public Member Functions

void print () const
 
const Eigen::VectorXd & getLowerBound () const
 
const Eigen::VectorXd & getUpperBound () const
 
void setLowerBound (const Eigen::VectorXd &newl)
 
void setUpperBound (const Eigen::VectorXd &newu)
 
Eigen::VectorXd & lowerBound ()
 
Eigen::VectorXd & upperBound ()
 
const Eigen::MatrixXd & getConstraintMatrix () const
 
void setConstraintMatrix (const Eigen::MatrixXd &newC)
 
Eigen::MatrixXd & constraintMatrix ()
 
void resize (int rows, int cols)
 
void reset ()
 
Size getSize () const
 
int rows () const
 
int cols () const
 

Protected Attributes

Eigen::MatrixXd C_
 
Eigen::VectorXd lower_bound_
 
Eigen::VectorXd upper_bound_
 

Detailed Description

Defines a double-bounded linear function as lowerBound <= C.x <= upperBound

Member Function Documentation

◆ cols()

int ConstraintFunction::cols ( ) const
virtual

◆ constraintMatrix()

Eigen::MatrixXd & ConstraintFunction::constraintMatrix ( )

◆ getConstraintMatrix()

const Eigen::MatrixXd & ConstraintFunction::getConstraintMatrix ( ) const

◆ getLowerBound()

const Eigen::VectorXd & ConstraintFunction::getLowerBound ( ) const

◆ getSize()

Size ConstraintFunction::getSize ( ) const
virtual

◆ getUpperBound()

const Eigen::VectorXd & ConstraintFunction::getUpperBound ( ) const

◆ lowerBound()

Eigen::VectorXd & ConstraintFunction::lowerBound ( )

◆ print()

void ConstraintFunction::print ( ) const
virtual

◆ reset()

void ConstraintFunction::reset ( )

◆ resize()

void ConstraintFunction::resize ( int  rows,
int  cols 
)
virtual

◆ rows()

int ConstraintFunction::rows ( ) const
virtual

◆ setConstraintMatrix()

void ConstraintFunction::setConstraintMatrix ( const Eigen::MatrixXd &  newC)

◆ setLowerBound()

void ConstraintFunction::setLowerBound ( const Eigen::VectorXd &  newl)

◆ setUpperBound()

void ConstraintFunction::setUpperBound ( const Eigen::VectorXd &  newu)

◆ upperBound()

Eigen::VectorXd & ConstraintFunction::upperBound ( )

Member Data Documentation

◆ C_

Eigen::MatrixXd orca::math::ConstraintFunction::C_
protected

◆ lower_bound_

Eigen::VectorXd orca::math::ConstraintFunction::lower_bound_
protected

◆ upper_bound_

Eigen::VectorXd orca::math::ConstraintFunction::upper_bound_
protected

The documentation for this class was generated from the following files: