iCub::iKin::iCubShoulderConstr Class Reference

Class for dealing with iCub shoulder's constraints due to the cables length. More...

#include <iKinIpOpt.h>

Inheritance diagram for iCub::iKin::iCubShoulderConstr:

Public Member Functions
	iCubShoulderConstr (iCubArm &arm)
	Constructor. More...
void	update (void *)
	Updates internal state. More...
Public Member Functions inherited from iCub::iKin::iKinLinIneqConstr
	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
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 iCub shoulder's constraints due to the cables length.

Definition at line 172 of file iKinIpOpt.h.

Constructor & Destructor Documentation

iCubShoulderConstr()

iCubShoulderConstr::iCubShoulderConstr

(

iCubArm &

arm

)

Constructor.

Parameters

arm	the iCubArm object.

Definition at line 94 of file iKinIpOpt.cpp.

Member Function Documentation

clone()

void iCubShoulderConstr::clone ( const iKinLinIneqConstr *  obj )

protectedvirtual

Reimplemented from iCub::iKin::iKinLinIneqConstr.

Definition at line 78 of file iKinIpOpt.cpp.

update()

void iCubShoulderConstr::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 121 of file iKinIpOpt.cpp.

Member Data Documentation

chain

iKinChain* iCub::iKin::iCubShoulderConstr::chain

protected

Definition at line 177 of file iKinIpOpt.h.

elb_m

double iCub::iKin::iCubShoulderConstr::elb_m

protected

Definition at line 176 of file iKinIpOpt.h.

elb_n

double iCub::iKin::iCubShoulderConstr::elb_n

protected

Definition at line 176 of file iKinIpOpt.h.

shou_m

double iCub::iKin::iCubShoulderConstr::shou_m

protected

Definition at line 175 of file iKinIpOpt.h.

shou_n

double iCub::iKin::iCubShoulderConstr::shou_n

protected

Definition at line 175 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