iCub-main
|
Class for dealing with iCub shoulder's constraints due to the cables length. More...
#include <iKinIpOpt.h>
Public Member Functions | |
iCubShoulderConstr (iCubArm &arm) | |
Constructor. More... | |
void | update (void *) |
Updates internal state. More... | |
![]() | |
iKinLinIneqConstr () | |
Default Constructor. More... | |
iKinLinIneqConstr (const double _lowerBoundInf, const double _upperBoundInf) | |
Constructor. More... | |
iKinLinIneqConstr (const iKinLinIneqConstr &obj) | |
Creates a new LinIneqConstr object from an already existing LinIneqConstr object. More... | |
virtual iKinLinIneqConstr & | operator= (const iKinLinIneqConstr &obj) |
Copies a LinIneqConstr object into the current one. More... | |
yarp::sig::Matrix & | getC () |
Returns a reference to the constraints matrix C. More... | |
yarp::sig::Vector & | getuB () |
Returns a reference to the upper bounds vector uB. More... | |
yarp::sig::Vector & | getlB () |
Returns a reference to the lower bounds vector lB. More... | |
double & | getLowerBoundInf () |
Returns a reference to the internal representation of -inf. More... | |
double & | getUpperBoundInf () |
Returns a reference to the internal representation of +inf. More... | |
bool | isActive () |
Returns the state of inequality constraints evaluation. More... | |
void | setActive (bool _active) |
Sets the state of inequality constraints evaluation. More... | |
Protected Member Functions | |
void | clone (const iKinLinIneqConstr *obj) |
Protected Attributes | |
double | shou_m |
double | shou_n |
double | elb_m |
double | elb_n |
iKinChain * | chain |
![]() | |
yarp::sig::Matrix | C |
yarp::sig::Vector | uB |
yarp::sig::Vector | lB |
double | lowerBoundInf |
double | upperBoundInf |
bool | active |
Class for dealing with iCub shoulder's constraints due to the cables length.
Definition at line 172 of file iKinIpOpt.h.
iCubShoulderConstr::iCubShoulderConstr | ( | iCubArm & | arm | ) |
|
protectedvirtual |
Reimplemented from iCub::iKin::iKinLinIneqConstr.
Definition at line 78 of file iKinIpOpt.cpp.
|
virtual |
Updates internal state.
Reimplemented from iCub::iKin::iKinLinIneqConstr.
Definition at line 121 of file iKinIpOpt.cpp.
|
protected |
Definition at line 177 of file iKinIpOpt.h.
|
protected |
Definition at line 176 of file iKinIpOpt.h.
|
protected |
Definition at line 176 of file iKinIpOpt.h.
|
protected |
Definition at line 175 of file iKinIpOpt.h.
|
protected |
Definition at line 175 of file iKinIpOpt.h.