GCC Code Coverage Report
Directory: ./ Exec Total Coverage
File: include/tsid/math/constraint-equality.hpp Lines: 2 2 100.0 %
Date: 2023-11-10 01:09:11 Branches: 0 0 - %

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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__