![]() |
ORCA: Optimization-based framework for Robotic Control Applications
|
#include <ConstraintFunction.h>
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_ |
Defines a double-bounded linear function as lowerBound <= C.x <= upperBound
|
virtual |
Implements orca::math::GenericFunction.
Eigen::MatrixXd & ConstraintFunction::constraintMatrix | ( | ) |
const Eigen::MatrixXd & ConstraintFunction::getConstraintMatrix | ( | ) | const |
const Eigen::VectorXd & ConstraintFunction::getLowerBound | ( | ) | const |
|
virtual |
Implements orca::math::GenericFunction.
const Eigen::VectorXd & ConstraintFunction::getUpperBound | ( | ) | const |
Eigen::VectorXd & ConstraintFunction::lowerBound | ( | ) |
|
virtual |
Implements orca::math::GenericFunction.
void ConstraintFunction::reset | ( | ) |
|
virtual |
Implements orca::math::GenericFunction.
|
virtual |
Implements orca::math::GenericFunction.
void ConstraintFunction::setConstraintMatrix | ( | const Eigen::MatrixXd & | newC | ) |
void ConstraintFunction::setLowerBound | ( | const Eigen::VectorXd & | newl | ) |
void ConstraintFunction::setUpperBound | ( | const Eigen::VectorXd & | newu | ) |
Eigen::VectorXd & ConstraintFunction::upperBound | ( | ) |
|
protected |
|
protected |
|
protected |