Klamp't
0.9.0
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#include <NumericalConstraint.h>
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 | |
RobotModel & | robot |
SupportPolygon & | sp |
LinearConstraint | cmInequality |
Matrix | A |
Vector | b |
Vector | vcom |
DirtyData< Matrix > | Jcom |
DirtyData< Matrix > | Hcomx |
DirtyData< Matrix > | Hcomy |
DirtyData< Matrix > | Hcomz |
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