18 #ifndef __invdyn_math_constraint_base_hpp__ 19 #define __invdyn_math_constraint_base_hpp__ 39 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
44 const unsigned int rows,
45 const unsigned int cols);
51 virtual const std::string &
name()
const;
52 virtual unsigned int rows()
const = 0;
53 virtual unsigned int cols()
const = 0;
54 virtual void resize(
const unsigned int r,
const unsigned int c) = 0;
58 virtual bool isBound()
const = 0;
86 #endif // ifndef __invdyn_math_constraint_base_hpp__ const Eigen::Ref< const Matrix > ConstRefMatrix
Definition: fwd.hpp:53
virtual const Vector & lowerBound() const =0
virtual unsigned int rows() const =0
virtual unsigned int cols() const =0
virtual bool setLowerBound(ConstRefVector lb)=0
std::string m_name
Definition: constraint-base.hpp:79
virtual const Vector & vector() const =0
EIGEN_MAKE_ALIGNED_OPERATOR_NEW ConstraintBase(const std::string &name)
Definition: constraint-base.cpp:22
Matrix m_A
Definition: constraint-base.hpp:80
virtual bool setMatrix(ConstRefMatrix A)
Definition: constraint-base.cpp:54
virtual bool checkConstraint(ConstRefVector x, double tol=1e-6) const =0
virtual bool isEquality() const =0
virtual bool setVector(ConstRefVector b)=0
virtual bool isInequality() const =0
const Eigen::Ref< const Vector > ConstRefVector
Definition: fwd.hpp:50
Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > Vector
Definition: fwd.hpp:37
virtual const Vector & upperBound() const =0
virtual bool isBound() const =0
Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > Matrix
Definition: fwd.hpp:38
virtual const std::string & name() const
Definition: constraint-base.cpp:39
virtual const Matrix & matrix() const
Definition: constraint-base.cpp:44
virtual void resize(const unsigned int r, const unsigned int c)=0
virtual ~ConstraintBase()
Definition: constraint-base.hpp:49
Definition: constraint-bound.hpp:26
Abstract class representing a linear equality/inequality constraint. Equality constraints are represe...
Definition: constraint-base.hpp:36
virtual bool setUpperBound(ConstRefVector ub)=0