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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-inequality.hpp> |
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using namespace tsid::math; |
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ConstraintInequality::ConstraintInequality(const std::string& name) |
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: ConstraintBase(name) {} |
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ConstraintInequality::ConstraintInequality(const std::string& name, |
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const unsigned int rows, |
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const unsigned int cols) |
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: ConstraintBase(name, rows, cols), |
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m_lb(Vector::Zero(rows)), |
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m_ub(Vector::Zero(rows)) {} |
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ConstraintInequality::ConstraintInequality(const std::string& name, |
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ConstRefMatrix A, ConstRefVector lb, |
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ConstRefVector ub) |
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: ConstraintBase(name, A), m_lb(lb), m_ub(ub) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT(A.rows() == lb.rows(), |
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"The number of rows of A and lb do not match"); |
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PINOCCHIO_CHECK_INPUT_ARGUMENT(A.rows() == ub.rows(), |
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"The number of rows of A and ub do not match"); |
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} |
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unsigned int ConstraintInequality::rows() const { |
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assert(m_A.rows() == m_lb.rows()); |
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assert(m_A.rows() == m_ub.rows()); |
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return (unsigned int)m_A.rows(); |
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} |
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unsigned int ConstraintInequality::cols() const { |
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return (unsigned int)m_A.cols(); |
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} |
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void ConstraintInequality::resize(const unsigned int r, const unsigned int c) { |
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m_A.setZero(r, c); |
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m_lb.setZero(r); |
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m_ub.setZero(r); |
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} |
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bool ConstraintInequality::isEquality() const { return false; } |
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bool ConstraintInequality::isInequality() const { return true; } |
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bool ConstraintInequality::isBound() const { return false; } |
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const Vector& ConstraintInequality::vector() const { |
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assert(false); |
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return m_lb; |
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} |
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const Vector& ConstraintInequality::lowerBound() const { return m_lb; } |
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const Vector& ConstraintInequality::upperBound() const { return m_ub; } |
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Vector& ConstraintInequality::vector() { |
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assert(false); |
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return m_lb; |
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} |
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Vector& ConstraintInequality::lowerBound() { return m_lb; } |
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Vector& ConstraintInequality::upperBound() { return m_ub; } |
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bool ConstraintInequality::setVector(ConstRefVector) { |
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assert(false); |
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return false; |
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} |
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bool ConstraintInequality::setLowerBound(ConstRefVector lb) { |
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m_lb = lb; |
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return true; |
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} |
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bool ConstraintInequality::setUpperBound(ConstRefVector ub) { |
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m_ub = ub; |
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return true; |
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} |
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bool ConstraintInequality::checkConstraint(ConstRefVector x, double tol) const { |
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return ((m_A * x).array() <= m_ub.array() + tol).all() && |
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((m_A * x).array() >= m_lb.array() - tol).all(); |
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} |