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Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
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 iKinLinIneqConstroperator= (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
 
iKinChainchain
 
- 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
armthe 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.


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