52 virtual void setLimits(
const Eigen::VectorXd& min,
const Eigen::VectorXd& max);
virtual void setLimits(const Eigen::VectorXd &min, const Eigen::VectorXd &max)
Definition: JointLimitConstraint.cc:18
virtual void onResize()
Definition: JointLimitConstraint.cc:39
Eigen::VectorXd & maxLimit()
Definition: JointLimitConstraint.cc:34
virtual void onUpdateConstraintFunction(double current_time, double dt)
Definition: JointLimitConstraint.cc:24
JointLimitConstraint(const std::string &name, optim::ControlVariable control_var)
Definition: JointLimitConstraint.cc:11
Definition: JointLimitConstraint.h:47
Eigen::VectorXd & minLimit()
Definition: JointLimitConstraint.cc:30
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
Definition: CartesianAccelerationPID.h:44
ControlVariable
Definition: ControlVariable.h:44