GenericLinIneqConstr Class Reference

Inheritance diagram for GenericLinIneqConstr:

Public Member Functions
	GenericLinIneqConstr (iKinChain *chain_, Searchable &options)
void	update (void *) override
	Updates internal state.
Public Member Functions inherited from iCub::iKin::iKinLinIneqConstr
	iKinLinIneqConstr ()
	Default Constructor.
	iKinLinIneqConstr (const double _lowerBoundInf, const double _upperBoundInf)
	Constructor.
	iKinLinIneqConstr (const iKinLinIneqConstr &obj)
	Creates a new LinIneqConstr object from an already existing LinIneqConstr object.
virtual iKinLinIneqConstr &	operator= (const iKinLinIneqConstr &obj)
	Copies a LinIneqConstr object into the current one.
yarp::sig::Matrix &	getC ()
	Returns a reference to the constraints matrix C.
yarp::sig::Vector &	getuB ()
	Returns a reference to the upper bounds vector uB.
yarp::sig::Vector &	getlB ()
	Returns a reference to the lower bounds vector lB.
double &	getLowerBoundInf ()
	Returns a reference to the internal representation of -inf.
double &	getUpperBoundInf ()
	Returns a reference to the internal representation of +inf.
bool	isActive ()
	Returns the state of inequality constraints evaluation.
void	setActive (bool _active)
	Sets the state of inequality constraints evaluation.

Protected Member Functions
void	clone (const iKinLinIneqConstr *obj) override

Protected Attributes
bool	configured {false}
iKinChain *	chain {nullptr}
Matrix	C_orig
Vector	lB_orig
Vector	uB_orig
Protected Attributes inherited from iCub::iKin::iKinLinIneqConstr
yarp::sig::Matrix	C
yarp::sig::Vector	uB
yarp::sig::Vector	lB
double	lowerBoundInf
double	upperBoundInf
bool	active

Detailed Description

Definition at line 165 of file main.cpp.

Constructor & Destructor Documentation

GenericLinIneqConstr()

GenericLinIneqConstr::GenericLinIneqConstr ( iKinChain *  chain_, Searchable &  options  )

inline

Definition at line 187 of file main.cpp.

Member Function Documentation

clone()

void GenericLinIneqConstr::clone ( const iKinLinIneqConstr *  obj )

inlineoverrideprotectedvirtual

Reimplemented from iCub::iKin::iKinLinIneqConstr.

Definition at line 174 of file main.cpp.

update()

void GenericLinIneqConstr::update ( void *  )

inlineoverridevirtual

Updates internal state.

Note

Useful when it is required to handle change in inherited objects.

Reimplemented from iCub::iKin::iKinLinIneqConstr.

Definition at line 225 of file main.cpp.

Member Data Documentation

C_orig

Matrix GenericLinIneqConstr::C_orig

protected

Definition at line 169 of file main.cpp.

chain

iKinChain* GenericLinIneqConstr::chain {nullptr}

protected

Definition at line 168 of file main.cpp.

configured

bool GenericLinIneqConstr::configured {false}

protected

Definition at line 167 of file main.cpp.

lB_orig

Vector GenericLinIneqConstr::lB_orig

protected

Definition at line 170 of file main.cpp.

uB_orig

Vector GenericLinIneqConstr::uB_orig

protected

Definition at line 171 of file main.cpp.

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The documentation for this class was generated from the following file:

• icub-main/src/modules/iKinCartesianSolver/main.cpp