18 #ifndef __tsid_python_util_container_hpp__ 19 #define __tsid_python_util_container_hpp__ 44 for(ConstraintLevel::const_iterator iit=m_std_const.begin(); iit!=m_std_const.end(); iit++)
47 ss<<
" - "<<c->name()<<
": w="<<iit->first<<
", ";
50 else if(c->isInequality())
54 ss<<c->rows()<<
"x"<<c->cols()<<endl;
56 cout << ss.str() << endl;
58 inline ConstraintLevel&
get (){
62 inline void append_eq (
double num, std::shared_ptr<math::ConstraintEquality> i){
63 m_std_const.push_back(
solvers::make_pair<
double, std::shared_ptr<math::ConstraintBase> >(num, i));
65 inline void append_ineq (
double num, std::shared_ptr<math::ConstraintInequality> i){
66 m_std_const.push_back(
solvers::make_pair<
double, std::shared_ptr<math::ConstraintBase> >(num, i));
68 inline void append_bound (
double num, std::shared_ptr<math::ConstraintBound> i){
69 m_std_const.push_back(
solvers::make_pair<
double, std::shared_ptr<math::ConstraintBase> >(num, i));
72 ConstraintLevel m_std_const;
87 unsigned int priority = 0;
88 for(HQPData::const_iterator it=m_std_hqp.begin(); it!=m_std_hqp.end(); it++)
90 ss<<
"Level "<< priority<<endl;
91 for(ConstraintLevel::const_iterator iit=it->begin(); iit!=it->end(); iit++)
94 ss<<
" - "<<c->name()<<
": w="<<iit->first<<
", ";
97 else if(c->isInequality())
101 ss<<c->rows()<<
"x"<<c->cols()<<endl;
105 cout << ss.str() << endl;
111 m_std_hqp.push_back(cons->
get());
114 inline HQPData
get (){
117 inline bool set (HQPData data){
129 #endif // ifndef __tsid_python_util_container_hpp__ void append_bound(double num, std::shared_ptr< math::ConstraintBound > i)
Definition: container.hpp:68
Definition: container.hpp:36
void append_eq(double num, std::shared_ptr< math::ConstraintEquality > i)
Definition: container.hpp:62
~HQPDatas()
Definition: container.hpp:79
aligned_pair< T1, T2 > make_pair(const T1 &t1, const T2 &t2)
Definition: fwd.hpp:85
HQPDatas()
Definition: container.hpp:78
pinocchio::container::aligned_vector< ConstraintLevel > HQPData
Definition: fwd.hpp:91
Definition: container.hpp:75
solvers::ConstraintLevel ConstraintLevel
Definition: container.hpp:33
void resize(size_t i)
Definition: container.hpp:81
pinocchio::container::aligned_vector< aligned_pair< double, std::shared_ptr< math::ConstraintBase > > > ConstraintLevel
Definition: fwd.hpp:89
ConstraintLevels()
Definition: container.hpp:39
ConstraintLevel & get()
Definition: container.hpp:58
~ConstraintLevels()
Definition: container.hpp:40
solvers::HQPData HQPData
Definition: container.hpp:34
Definition: constraint-bound.hpp:26
void append_helper(ConstraintLevels *cons)
Definition: container.hpp:110
void print()
Definition: container.hpp:42
void append_ineq(double num, std::shared_ptr< math::ConstraintInequality > i)
Definition: container.hpp:65
void print() const
Definition: container.hpp:85