#include "tsid/math/fwd.hpp"
#include <string>
#include <pinocchio/macros.hpp>

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Classes
class	tsid::math::ConstraintBase
	Abstract class representing a linear equality/inequality constraint. Equality constraints are represented by a matrix A and a vector b: Ax = b Inequality constraints are represented by a matrix A and two vectors lb and ub: lb <= Ax <= ub Bounds are represented by two vectors lb and ub: lb <= x <= ub. More...

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