iCub::iKin::iCubAdditionalArmConstraints Class Reference

Class for dealing with additional iCub arm's constraints. More...

#include <iKinIpOpt.h>

Inheritance diagram for iCub::iKin::iCubAdditionalArmConstraints:

Public Member Functions
	iCubAdditionalArmConstraints (iCubArm &arm)
	Constructor.
void	update (void *)
	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)

Protected Attributes
double	shou_m
double	shou_n
double	elb_m
double	elb_n
iKinChain *	chain
double	hw_version
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

Class for dealing with additional iCub arm's constraints.

Definition at line 170 of file iKinIpOpt.h.

Constructor & Destructor Documentation

iCubAdditionalArmConstraints()

iCubAdditionalArmConstraints::iCubAdditionalArmConstraints

(

iCubArm &

arm

)

Constructor.

Parameters

arm	the iCubArm object.

Definition at line 97 of file iKinIpOpt.cpp.

Member Function Documentation

clone()

void iCubAdditionalArmConstraints::clone ( const iKinLinIneqConstr *  obj )

protectedvirtual

Reimplemented from iCub::iKin::iKinLinIneqConstr.

Definition at line 80 of file iKinIpOpt.cpp.

update()

void iCubAdditionalArmConstraints::update ( void *  )

virtual

Updates internal state.

Note

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

Reimplemented from iCub::iKin::iKinLinIneqConstr.

Definition at line 128 of file iKinIpOpt.cpp.

Member Data Documentation

chain

iKinChain* iCub::iKin::iCubAdditionalArmConstraints::chain

protected

Definition at line 176 of file iKinIpOpt.h.

elb_m

double iCub::iKin::iCubAdditionalArmConstraints::elb_m

protected

Definition at line 174 of file iKinIpOpt.h.

elb_n

double iCub::iKin::iCubAdditionalArmConstraints::elb_n

protected

Definition at line 174 of file iKinIpOpt.h.

hw_version

double iCub::iKin::iCubAdditionalArmConstraints::hw_version

protected

Definition at line 177 of file iKinIpOpt.h.

shou_m

double iCub::iKin::iCubAdditionalArmConstraints::shou_m

protected

Definition at line 173 of file iKinIpOpt.h.

shou_n

double iCub::iKin::iCubAdditionalArmConstraints::shou_n

protected

Definition at line 173 of file iKinIpOpt.h.

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

• icub-main/src/libraries/iKin/include/iCub/iKin/iKinIpOpt.h
• icub-main/src/libraries/iKin/src/iKinIpOpt.cpp