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18 #ifndef __invdyn_math_constraint_bound_hpp__
19 #define __invdyn_math_constraint_bound_hpp__
31 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
36 const unsigned int size);
43 unsigned int rows()
const;
44 unsigned int cols()
const;
45 void resize(
const unsigned int r,
const unsigned int c);
74 #endif // ifndef __invdyn_math_constraint_bound_hpp__
bool isBound() const
Definition: constraint-bound.cpp:66
const Vector & upperBound() const
Definition: constraint-bound.cpp:70
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:36
bool isEquality() const
Definition: constraint-bound.cpp:64
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
unsigned int rows() const
Definition: constraint-bound.cpp:44
Definition: constraint-bound.hpp:28
virtual const std::string & name() const
Definition: constraint-base.cpp:39
Vector m_lb
Definition: constraint-bound.hpp:67
unsigned int cols() const
Definition: constraint-bound.cpp:50
const Vector & lowerBound() const
Definition: constraint-bound.cpp:69
virtual ~ConstraintBound()
Definition: constraint-bound.hpp:41
bool checkConstraint(ConstRefVector x, double tol=1e-6) const
Definition: constraint-bound.cpp:80
bool setUpperBound(ConstRefVector ub)
Definition: constraint-bound.cpp:78
bool isInequality() const
Definition: constraint-bound.cpp:65
const Vector & vector() const
Definition: constraint-bound.cpp:68
void resize(const unsigned int r, const unsigned int c)
Definition: constraint-bound.cpp:56
Vector m_ub
Definition: constraint-bound.hpp:68
const typedef Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
bool setVector(ConstRefVector b)
Definition: constraint-bound.cpp:76
Definition: constraint-bound.hpp:26
EIGEN_MAKE_ALIGNED_OPERATOR_NEW ConstraintBound(const std::string &name)
Definition: constraint-bound.cpp:23
bool setLowerBound(ConstRefVector lb)
Definition: constraint-bound.cpp:77