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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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#include <tsid/math/constraint-base.hpp> |
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using namespace tsid::math; |
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ConstraintBase::ConstraintBase(const std::string& name) : m_name(name) {} |
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ConstraintBase::ConstraintBase(const std::string& name, const unsigned int rows, |
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const unsigned int cols) |
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: m_name(name) { |
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m_A = Matrix::Zero(rows, cols); |
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} |
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ConstraintBase::ConstraintBase(const std::string& name, ConstRefMatrix A) |
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: m_name(name), m_A(A) {} |
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const std::string& ConstraintBase::name() const { return m_name; } |
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const Matrix& ConstraintBase::matrix() const { return m_A; } |
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Matrix& ConstraintBase::matrix() { return m_A; } |
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bool ConstraintBase::setMatrix(ConstRefMatrix A) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT(m_A.cols() == A.cols(), |
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"cols do not match the constraint dimension"); |
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PINOCCHIO_CHECK_INPUT_ARGUMENT(m_A.rows() == A.rows(), |
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"rows do not match the constraint dimension"); |
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m_A = A; |
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return true; |
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} |