ORCA: Optimization-based framework for Robotic Control Applications
ConstraintFunction.h
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1 //| This file is a part of the ORCA framework.
2 //|
3 //| Copyright 2018, Fuzzy Logic Robotics
4 //| Copyright 2017, ISIR / Universite Pierre et Marie Curie (UPMC)
5 //|
6 //| Main contributor(s): Antoine Hoarau, Ryan Lober, and
7 //| Fuzzy Logic Robotics <info@fuzzylogicrobotics.com>
8 //|
9 //| ORCA is a whole-body reactive controller framework for robotics.
10 //|
11 //| This software is governed by the CeCILL-C license under French law and
12 //| abiding by the rules of distribution of free software. You can use,
13 //| modify and/ or redistribute the software under the terms of the CeCILL-C
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15 //| "http://www.cecill.info".
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36 
37 #pragma once
38 
40 
41 namespace orca
42 {
43 namespace math
44 {
49 {
50 public:
51  void print() const;
52 
53  const Eigen::VectorXd& getLowerBound() const;
54  const Eigen::VectorXd& getUpperBound() const;
55 
56  void setLowerBound(const Eigen::VectorXd& newl);
57  void setUpperBound(const Eigen::VectorXd& newu);
58 
59  Eigen::VectorXd& lowerBound();
60  Eigen::VectorXd& upperBound();
61 
62  const Eigen::MatrixXd& getConstraintMatrix() const;
63 
64  void setConstraintMatrix(const Eigen::MatrixXd& newC);
65 
66  Eigen::MatrixXd& constraintMatrix();
67 
68  void resize(int rows,int cols);
69 
70  void reset();
71 
72  Size getSize() const;
73 
74  int rows() const;
75  int cols() const;
76 
77 protected:
78  Eigen::MatrixXd C_;
79  Eigen::VectorXd lower_bound_,upper_bound_;
80 };
81 
82 }
83 }
const Eigen::MatrixXd & getConstraintMatrix() const
Definition: ConstraintFunction.cc:76
int cols() const
Definition: ConstraintFunction.cc:179
int rows() const
Definition: ConstraintFunction.cc:174
Eigen::VectorXd lower_bound_
Definition: ConstraintFunction.h:79
void reset()
Definition: ConstraintFunction.cc:86
Eigen::MatrixXd C_
Definition: ConstraintFunction.h:78
void resize(int rows, int cols)
Definition: ConstraintFunction.cc:93
const Eigen::VectorXd & getUpperBound() const
Definition: ConstraintFunction.cc:22
Definition: ConstraintFunction.h:48
void setUpperBound(const Eigen::VectorXd &newu)
Definition: ConstraintFunction.cc:40
void setConstraintMatrix(const Eigen::MatrixXd &newC)
Definition: ConstraintFunction.cc:53
Eigen::VectorXd & lowerBound()
Definition: ConstraintFunction.cc:66
void print() const
Definition: ConstraintFunction.cc:7
Definition: GenericFunction.h:49
Eigen::VectorXd upper_bound_
Definition: ConstraintFunction.h:79
void setLowerBound(const Eigen::VectorXd &newl)
Definition: ConstraintFunction.cc:27
Definition: CartesianAccelerationPID.h:44
Eigen::VectorXd & upperBound()
Definition: ConstraintFunction.cc:71
Definition: Utils.h:105
const Eigen::VectorXd & getLowerBound() const
Definition: ConstraintFunction.cc:17
Size getSize() const
Definition: ConstraintFunction.cc:169
Eigen::MatrixXd & constraintMatrix()
Definition: ConstraintFunction.cc:81