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

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

Detailed Description

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