Inheritance diagram for ConstraintModelBase< Derived >:

Collaboration diagram for ConstraintModelBase< Derived >:

Public Types
enum	{ Options = traits<Derived>::Options }

typedef Eigen::Matrix< bool, Eigen::Dynamic, 1, Options >	BooleanVector

typedef traits< Derived >::ConstraintData	ConstraintData

typedef std::vector< Eigen::DenseIndex >	IndexVector

typedef traits< Derived >::Scalar	Scalar

Public Types inherited from NumericalBase< Derived >
typedef traits< Derived >::Scalar	Scalar

Public Member Functions
template<int Options, template< typename, int > class JointCollectionTpl>
void	calc (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, ConstraintData &cdata) const
	Evaluate the constraint values at the current state given by data and store the results in cdata.

template<typename NewScalar >
CastType< NewScalar, Derived >::type	cast () const

ConstraintData	createData () const

Derived &	derived ()

const Derived &	derived () const

template<typename JacobianMatrix , int Options, template< typename, int > class JointCollectionTpl>
void	jacobian (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const DataTpl< Scalar, Options, JointCollectionTpl > &data, ConstraintData &cdata, const Eigen::MatrixBase< JacobianMatrix > &jacobian_matrix) const

template<typename OtherDerived >
ConstraintModelBase &	operator= (const ConstraintModelBase< OtherDerived > &other)

template<typename OtherDerived >
bool	operator== (const ConstraintModelBase< OtherDerived > &other) const

Public Attributes
IndexVector	colwise_span_indexes
	Indexes of the columns spanned by the constraints.

BooleanVector	colwise_sparsity
	Sparsity pattern associated to the constraint;.

std::string	name
	Name of the constraint.

Protected Member Functions
	ConstraintModelBase ()
	Default constructor.

template<int Options, template< typename, int > class JointCollectionTpl>
	ConstraintModelBase (const ModelTpl< Scalar, Options, JointCollectionTpl > &model)

ConstraintModelBase &	base ()

const ConstraintModelBase &	base () const

Detailed Description

Definition at line 15 of file constraint-model-base.hpp.

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

Public Types