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18 #ifndef __invdyn_math_constraint_equality_hpp__
19 #define __invdyn_math_constraint_equality_hpp__
31 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
36 const unsigned int rows,
37 const unsigned int cols);
44 unsigned int rows()
const;
45 unsigned int cols()
const;
46 void resize(
const unsigned int r,
const unsigned int c);
73 #endif // ifndef __invdyn_math_constraint_equality_hpp__
bool isInequality() const
Definition: constraint-equality.cpp:60
bool isEquality() const
Definition: constraint-equality.cpp:59
Definition: constraint-equality.hpp:28
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:36
unsigned int cols() const
Definition: constraint-equality.cpp:48
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
const Vector & upperBound() const
Definition: constraint-equality.cpp:65
virtual const std::string & name() const
Definition: constraint-base.cpp:39
virtual ~ConstraintEquality()
Definition: constraint-equality.hpp:42
unsigned int rows() const
Definition: constraint-equality.cpp:42
bool setUpperBound(ConstRefVector ub)
Definition: constraint-equality.cpp:73
Vector m_b
Definition: constraint-equality.hpp:67
const Vector & lowerBound() const
Definition: constraint-equality.cpp:64
const Vector & vector() const
Definition: constraint-equality.cpp:63
void resize(const unsigned int r, const unsigned int c)
Definition: constraint-equality.cpp:53
const typedef Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
bool isBound() const
Definition: constraint-equality.cpp:61
Definition: constraint-bound.hpp:26
bool setLowerBound(ConstRefVector lb)
Definition: constraint-equality.cpp:72
const typedef Eigen::Ref< const Matrix > ConstRefMatrix
Definition: fwd.hpp:53
bool setVector(ConstRefVector b)
Definition: constraint-equality.cpp:71
bool checkConstraint(ConstRefVector x, double tol=1e-6) const
Definition: constraint-equality.cpp:75
EIGEN_MAKE_ALIGNED_OPERATOR_NEW ConstraintEquality(const std::string &name)
Definition: constraint-equality.cpp:22