ORCA: Optimization-based framework for Robotic Control Applications
EqualityConstraint.h
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4 //| Copyright 2017, ISIR / Universite Pierre et Marie Curie (UPMC)
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9 //| ORCA is a whole-body reactive controller framework for robotics.
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36 
37 
38 #pragma once
39 
41 
42 namespace orca
43 {
44 namespace constraint
45 {
46 
48 {
49 public:
50  EqualityConstraint(const std::string& name,optim::ControlVariable control_var);
51 
52  const Eigen::VectorXd& getLowerBound() const override;
53 
54  const Eigen::VectorXd& getUpperBound() const override;
55 
56  Eigen::VectorXd& bound();
57 
58  const Eigen::VectorXd& getBound() const;
59 
60  void setBound(const Eigen::VectorXd& newBound);
61 };
62 
63 }
64 }
Eigen::VectorXd & bound()
Definition: EqualityConstraint.cc:21
const Eigen::VectorXd & getLowerBound() const override
Returns the lower bound from the constraint function (alias)
Definition: EqualityConstraint.cc:11
const Eigen::VectorXd & getUpperBound() const override
Returns the upperbound from the constraint function (alias)
Definition: EqualityConstraint.cc:16
EqualityConstraint(const std::string &name, optim::ControlVariable control_var)
Definition: EqualityConstraint.cc:5
Builds a double bounded function : l < C.x < u With x the control variable, l = lowerBound, u = upperBound, and C the constraint matrix.
Definition: GenericConstraint.h:55
const Eigen::VectorXd & getBound() const
Definition: EqualityConstraint.cc:26
void setBound(const Eigen::VectorXd &newBound)
Definition: EqualityConstraint.cc:31
Definition: CartesianAccelerationPID.h:44
ControlVariable
Definition: ControlVariable.h:44
Definition: EqualityConstraint.h:47