Implements a constraint of the form: More...

Inheritance diagram for LinearComplementarityConstraint:

Collaboration diagram for LinearComplementarityConstraint:

Public Member Functions
template<typename DerivedM , typename Derivedq >
	LinearComplementarityConstraint (const Eigen::MatrixBase< DerivedM > &M, const Eigen::MatrixBase< Derivedq > &q)

	~LinearComplementarityConstraint () override

void	eval (const Eigen::Ref< const Eigen::VectorXd > &x, Eigen::VectorXd &y) const override
	Return Mx + q (the value of the slack variable). More...

void	eval (const Eigen::Ref< const Drake::TaylorVecXd > &x, Drake::TaylorVecXd &y) const override

const Eigen::MatrixXd &	M () const

const Eigen::VectorXd &	q () const

Public Member Functions inherited from Constraint
	Constraint (size_t num_constraints)

template<typename DerivedLB , typename DerivedUB >
	Constraint (size_t num_constraints, Eigen::MatrixBase< DerivedLB > const &lb, Eigen::MatrixBase< DerivedUB > const &ub)

virtual	~Constraint ()

Eigen::VectorXd const &	lower_bound () const

Eigen::VectorXd const &	upper_bound () const

size_t	num_constraints () const

Additional Inherited Members
Protected Attributes inherited from Constraint
Eigen::VectorXd	lower_bound_

Eigen::VectorXd	upper_bound_

Detailed Description

Implements a constraint of the form:

  Mx + q >= 0
  x >= 0
  x'(Mx + q) == 0

An implied slack variable complements any 0 component of x. To get the slack values at a given solution x, use eval(x).

Constructor & Destructor Documentation

LinearComplementarityConstraint	(	const Eigen::MatrixBase< DerivedM > &	M,
		const Eigen::MatrixBase< Derivedq > &	q
	)

inline

~LinearComplementarityConstraint ( )

inlineoverride

void eval	(	const Eigen::Ref< const Eigen::VectorXd > &	x,
		Eigen::VectorXd &	y
	)		const

inlineoverridevirtual

Return Mx + q (the value of the slack variable).

Implements Constraint.

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void eval	(	const Eigen::Ref< const Drake::TaylorVecXd > &	x,
		Drake::TaylorVecXd &	y
	)		const

inlineoverridevirtual

Implements Constraint.

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const Eigen::MatrixXd& M ( ) const

inline

const Eigen::VectorXd& q ( ) const

inline

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