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18 #ifndef __invdyn_math_constraint_inequality_hpp__
19 #define __invdyn_math_constraint_inequality_hpp__
31 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
36 const unsigned int rows,
37 const unsigned int cols);
45 unsigned int rows()
const;
46 unsigned int cols()
const;
47 void resize(
const unsigned int r,
const unsigned int c);
75 #endif // ifndef __invdyn_math_constraint_equality_hpp__
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:36
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
virtual const std::string & name() const
Definition: constraint-base.cpp:39
bool setVector(ConstRefVector b)
Definition: constraint-inequality.cpp:77
bool isInequality() const
Definition: constraint-inequality.cpp:66
const Vector & vector() const
Definition: constraint-inequality.cpp:69
const Vector & upperBound() const
Definition: constraint-inequality.cpp:71
bool isBound() const
Definition: constraint-inequality.cpp:67
Vector m_lb
Definition: constraint-inequality.hpp:68
virtual ~ConstraintInequality()
Definition: constraint-inequality.hpp:43
Definition: constraint-inequality.hpp:28
const Vector & lowerBound() const
Definition: constraint-inequality.cpp:70
bool isEquality() const
Definition: constraint-inequality.cpp:65
const typedef Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
EIGEN_MAKE_ALIGNED_OPERATOR_NEW ConstraintInequality(const std::string &name)
Definition: constraint-inequality.cpp:22
unsigned int cols() const
Definition: constraint-inequality.cpp:53
void resize(const unsigned int r, const unsigned int c)
Definition: constraint-inequality.cpp:58
Definition: constraint-bound.hpp:26
unsigned int rows() const
Definition: constraint-inequality.cpp:46
const typedef Eigen::Ref< const Matrix > ConstRefMatrix
Definition: fwd.hpp:53
bool setLowerBound(ConstRefVector lb)
Definition: constraint-inequality.cpp:78
bool checkConstraint(ConstRefVector x, double tol=1e-6) const
Definition: constraint-inequality.cpp:81
Vector m_ub
Definition: constraint-inequality.hpp:69
bool setUpperBound(ConstRefVector ub)
Definition: constraint-inequality.cpp:79