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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. 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...
 
virtual void update (void *)
 Updates internal state. More...
 

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 69 of file iKinIpOpt.h.

Constructor & Destructor Documentation

◆ iKinLinIneqConstr() [1/3]

iKinLinIneqConstr::iKinLinIneqConstr ( )

Default Constructor.

Definition at line 30 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
_lowerBoundInfspecifies -inf when there is no lower bound.
_upperBoundInfspecifies +inf when there is no upper bound.

Definition at line 39 of file iKinIpOpt.cpp.

◆ iKinLinIneqConstr() [3/3]

iKinLinIneqConstr::iKinLinIneqConstr ( const iKinLinIneqConstr obj)

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

Parameters
objis the LinIneqConstr to be copied.

Definition at line 62 of file iKinIpOpt.cpp.

Member Function Documentation

◆ clone()

void iKinLinIneqConstr::clone ( const iKinLinIneqConstr obj)
protectedvirtual

Reimplemented in iCub::iKin::iCubShoulderConstr.

Definition at line 49 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 118 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 130 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 136 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 124 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 142 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 148 of file iKinIpOpt.h.

◆ operator=()

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

Copies a LinIneqConstr object into the current one.

Parameters
objis a reference to an object of type iKinLinIneqConstr.
Returns
a reference to the current object.

Definition at line 69 of file iKinIpOpt.cpp.

◆ setActive()

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

Sets the state of inequality constraints evaluation.

Parameters
ifthe new state is true the evaluation is performed.

Definition at line 154 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::iCubShoulderConstr.

Definition at line 162 of file iKinIpOpt.h.

Member Data Documentation

◆ active

bool iCub::iKin::iKinLinIneqConstr::active
protected

Definition at line 78 of file iKinIpOpt.h.

◆ C

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

Definition at line 72 of file iKinIpOpt.h.

◆ lB

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

Definition at line 74 of file iKinIpOpt.h.

◆ lowerBoundInf

double iCub::iKin::iKinLinIneqConstr::lowerBoundInf
protected

Definition at line 76 of file iKinIpOpt.h.

◆ uB

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

Definition at line 73 of file iKinIpOpt.h.

◆ upperBoundInf

double iCub::iKin::iKinLinIneqConstr::upperBoundInf
protected

Definition at line 77 of file iKinIpOpt.h.


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