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// |
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// Copyright (c) 2017 CNRS |
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// |
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// This file is part of tsid |
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// tsid is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// tsid is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// tsid. If not, see |
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// <http://www.gnu.org/licenses/>. |
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// |
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#ifndef __invdyn_math_constraint_equality_hpp__ |
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#define __invdyn_math_constraint_equality_hpp__ |
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#include "tsid/math/constraint-base.hpp" |
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namespace tsid { |
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namespace math { |
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class ConstraintEquality : public ConstraintBase { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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ConstraintEquality(const std::string& name); |
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ConstraintEquality(const std::string& name, const unsigned int rows, |
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const unsigned int cols); |
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ConstraintEquality(const std::string& name, ConstRefMatrix A, |
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ConstRefVector b); |
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virtual ~ConstraintEquality() {} |
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unsigned int rows() const; |
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unsigned int cols() const; |
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void resize(const unsigned int r, const unsigned int c); |
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bool isEquality() const; |
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bool isInequality() const; |
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bool isBound() const; |
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const Vector& vector() const; |
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const Vector& lowerBound() const; |
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const Vector& upperBound() const; |
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Vector& vector(); |
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Vector& lowerBound(); |
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Vector& upperBound(); |
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bool setVector(ConstRefVector b); |
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bool setLowerBound(ConstRefVector lb); |
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bool setUpperBound(ConstRefVector ub); |
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bool checkConstraint(ConstRefVector x, double tol = 1e-6) const; |
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protected: |
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Vector m_b; |
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}; |
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} // namespace math |
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} // namespace tsid |
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#endif // ifndef __invdyn_math_constraint_equality_hpp__ |
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