hpp::constraints::solver::saturation::Bounds Struct Reference

simple box constraints More...

#include <hpp/constraints/solver/hierarchical-iterative.hh>

Inheritance diagram for hpp::constraints::solver::saturation::Bounds:

Collaboration diagram for hpp::constraints::solver::saturation::Bounds:

Public Member Functions
bool	saturate (vectorIn_t q, vectorOut_t qSat, Eigen::VectorXi &saturation)
	Bounds ()
	Bounds (const vector_t &lb, const vector_t &ub)
	Bounds (const vector_t &lb, const vector_t &ub, const Eigen::VectorXi &iq2iv)
Public Member Functions inherited from hpp::constraints::solver::saturation::Base
virtual	~Base ()

Public Attributes
vector_t	lb
vector_t	ub
Eigen::VectorXi	iq2iv_

Detailed Description

simple box constraints

Constructor & Destructor Documentation

Bounds() [1/3]

hpp::constraints::solver::saturation::Bounds::Bounds ( )

inline

Bounds() [2/3]

hpp::constraints::solver::saturation::Bounds::Bounds ( const vector_t &  lb, const vector_t &  ub  )

inline

Bounds() [3/3]

hpp::constraints::solver::saturation::Bounds::Bounds ( const vector_t &  lb, const vector_t &  ub, const Eigen::VectorXi &  iq2iv  )

inline

Member Function Documentation

saturate()

bool hpp::constraints::solver::saturation::Bounds::saturate ( vectorIn_t  q, vectorOut_t  qSat, Eigen::VectorXi &  saturation  )

virtual

This function checks which degrees of freedom are saturated.

Parameters

q	a configuration,

Return values

qSat	configuration after saturing values out of bounds
saturation	vector: for each degree of freedom, saturation is set to -1 if the lower bound is reached, 1 if the upper bound is reached, 0 otherwise.

Returns

true if and only if at least one degree of freedom has been saturated

Reimplemented from hpp::constraints::solver::saturation::Base.

Member Data Documentation

iq2iv_

Eigen::VectorXi hpp::constraints::solver::saturation::Bounds::iq2iv_

lb

vector_t hpp::constraints::solver::saturation::Bounds::lb

ub

vector_t hpp::constraints::solver::saturation::Bounds::ub

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The documentation for this struct was generated from the following file:

• include/hpp/constraints/solver/hierarchical-iterative.hh