Klamp't  0.9.0
Public Member Functions | Public Attributes | List of all members
Klampt::SuppPolyConstraint Struct Reference

#include <NumericalConstraint.h>

Inheritance diagram for Klampt::SuppPolyConstraint:

Public Member Functions

 SuppPolyConstraint (RobotModel &robot, SupportPolygon &sp)
virtual string Label () const override
virtual int NumDimensions () const override
virtual void PreEval (const Vector &x) override
virtual void Eval (const Vector &x, Vector &v) override
virtual Real Eval_i (const Vector &x, int i) override
virtual void Jacobian (const Vector &x, Matrix &J) override
virtual void Jacobian_i (const Vector &x, int i, Vector &Ji) override
virtual void Hessian_i (const Vector &x, int i, Matrix &Hi) override
virtual Real Margin (const Vector &x, int &minConstraint) override
virtual bool Satisfies_i (const Vector &x, int i, Real d=Zero) override

Public Attributes

SupportPolygon & sp
LinearConstraint cmInequality
Matrix A
Vector b
Vector vcom
DirtyData< Matrix > Jcom
DirtyData< Matrix > Hcomx
DirtyData< Matrix > Hcomy
DirtyData< Matrix > Hcomz

Detailed Description


The documentation for this struct was generated from the following file: