iCub::iKin::iKinLinIneqConstr Class Reference

Class for defining Linear Inequality Constraints of the form lB <= C*q <= uB for the nonlinear problem NLP. More...

#include <iKinIpOpt.h>

Inheritance diagram for iCub::iKin::iKinLinIneqConstr:

Public Member Functions
	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.
virtual void	update (void *)
	Updates internal state.

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

Protected Attributes
yarp::sig::Matrix	C
yarp::sig::Vector	uB
yarp::sig::Vector	lB
double	lowerBoundInf
double	upperBoundInf
bool	active

Detailed Description

Class for defining Linear Inequality Constraints of the form lB <= C*q <= uB for the nonlinear problem NLP.

Definition at line 68 of file iKinIpOpt.h.

Constructor & Destructor Documentation

iKinLinIneqConstr() [1/3]

iKinLinIneqConstr::iKinLinIneqConstr

(

)

Default Constructor.

Definition at line 32 of file iKinIpOpt.cpp.

iKinLinIneqConstr() [2/3]

iKinLinIneqConstr::iKinLinIneqConstr	(	const double	_lowerBoundInf,
		const double	_upperBoundInf
	)

Constructor.

Defines linear inequality constraints of the form lB <= C*q <= uB.

Parameters

_lowerBoundInf	specifies -inf when there is no lower bound.
_upperBoundInf	specifies +inf when there is no upper bound.

Definition at line 41 of file iKinIpOpt.cpp.

iKinLinIneqConstr() [3/3]

iKinLinIneqConstr::iKinLinIneqConstr

(

const iKinLinIneqConstr &

obj

)

Creates a new LinIneqConstr object from an already existing LinIneqConstr object.

Parameters

obj	is the LinIneqConstr to be copied.

Definition at line 64 of file iKinIpOpt.cpp.

Member Function Documentation

clone()

void iKinLinIneqConstr::clone ( const iKinLinIneqConstr *  obj )

protectedvirtual

Reimplemented in iCub::iKin::iCubAdditionalArmConstraints, and GenericLinIneqConstr.

Definition at line 51 of file iKinIpOpt.cpp.

getC()

yarp::sig::Matrix & iCub::iKin::iKinLinIneqConstr::getC ( )

inline

Returns a reference to the constraints matrix C.

Returns

constraints matrix C.

Definition at line 117 of file iKinIpOpt.h.

getlB()

yarp::sig::Vector & iCub::iKin::iKinLinIneqConstr::getlB ( )

inline

Returns a reference to the lower bounds vector lB.

Returns

lower bounds vector lB.

Definition at line 129 of file iKinIpOpt.h.

getLowerBoundInf()

double & iCub::iKin::iKinLinIneqConstr::getLowerBoundInf ( )

inline

Returns a reference to the internal representation of -inf.

Returns

-inf.

Definition at line 135 of file iKinIpOpt.h.

getuB()

yarp::sig::Vector & iCub::iKin::iKinLinIneqConstr::getuB ( )

inline

Returns a reference to the upper bounds vector uB.

Returns

upper bounds vector uB.

Definition at line 123 of file iKinIpOpt.h.

getUpperBoundInf()

double & iCub::iKin::iKinLinIneqConstr::getUpperBoundInf ( )

inline

Returns a reference to the internal representation of +inf.

Returns

+inf.

Definition at line 141 of file iKinIpOpt.h.

isActive()

bool iCub::iKin::iKinLinIneqConstr::isActive ( )

inline

Returns the state of inequality constraints evaluation.

Returns

true if inequality constraints are active.

Definition at line 147 of file iKinIpOpt.h.

operator=()

iKinLinIneqConstr & iKinLinIneqConstr::operator= ( const iKinLinIneqConstr &  obj )

virtual

Copies a LinIneqConstr object into the current one.

Parameters

obj	is a reference to an object of type iKinLinIneqConstr.

Returns

a reference to the current object.

Definition at line 71 of file iKinIpOpt.cpp.

setActive()

void iCub::iKin::iKinLinIneqConstr::setActive ( bool  _active )

inline

Sets the state of inequality constraints evaluation.

Parameters

if	the new state is true the evaluation is performed.

Definition at line 153 of file iKinIpOpt.h.

update()

virtual void iCub::iKin::iKinLinIneqConstr::update ( void *  )

inlinevirtual

Updates internal state.

Note

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

Reimplemented in iCub::iKin::iCubAdditionalArmConstraints, and GenericLinIneqConstr.

Definition at line 161 of file iKinIpOpt.h.

Member Data Documentation

active

bool iCub::iKin::iKinLinIneqConstr::active

protected

Definition at line 77 of file iKinIpOpt.h.

C

yarp::sig::Matrix iCub::iKin::iKinLinIneqConstr::C

protected

Definition at line 71 of file iKinIpOpt.h.

lB

yarp::sig::Vector iCub::iKin::iKinLinIneqConstr::lB

protected

Definition at line 73 of file iKinIpOpt.h.

lowerBoundInf

double iCub::iKin::iKinLinIneqConstr::lowerBoundInf

protected

Definition at line 75 of file iKinIpOpt.h.

uB

yarp::sig::Vector iCub::iKin::iKinLinIneqConstr::uB

protected

Definition at line 72 of file iKinIpOpt.h.

upperBoundInf

double iCub::iKin::iKinLinIneqConstr::upperBoundInf

protected

Definition at line 76 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