Klamp't  0.8.1
Public Member Functions | Public Attributes | List of all members
SuppPolyConstraint Struct Reference

#include <NumericalConstraint.h>

Inheritance diagram for SuppPolyConstraint:

Public Member Functions

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

Public Attributes

Robotrobot
 
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: