Implements a constraint of the form Ax = b . More...

Inheritance diagram for LinearEqualityConstraint:

Collaboration diagram for LinearEqualityConstraint:

Public Member Functions
template<typename DerivedA , typename DerivedB >
	LinearEqualityConstraint (const Eigen::MatrixBase< DerivedA > &Aeq, const Eigen::MatrixBase< DerivedB > &beq)

	~LinearEqualityConstraint () override

template<typename DerivedA , typename DerivedB >
void	updateConstraint (const Eigen::MatrixBase< DerivedA > &Aeq, const Eigen::MatrixBase< DerivedB > &beq)

Public Member Functions inherited from LinearConstraint
	LinearConstraint (size_t num_constraints)

template<typename DerivedA , typename DerivedLB , typename DerivedUB >
	LinearConstraint (const Eigen::MatrixBase< DerivedA > &a, const Eigen::MatrixBase< DerivedLB > &lb, const Eigen::MatrixBase< DerivedUB > &ub)

	~LinearConstraint () override

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

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

virtual Eigen::SparseMatrix< double >	GetSparseMatrix () const

virtual const Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > &	A () 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 LinearConstraint
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic >	A_

Protected Attributes inherited from Constraint
Eigen::VectorXd	lower_bound_

Eigen::VectorXd	upper_bound_

Detailed Description

Implements a constraint of the form Ax = b .

Constructor & Destructor Documentation

LinearEqualityConstraint	(	const Eigen::MatrixBase< DerivedA > &	Aeq,
		const Eigen::MatrixBase< DerivedB > &	beq
	)

inline

~LinearEqualityConstraint ( )

inlineoverride

void updateConstraint	(	const Eigen::MatrixBase< DerivedA > &	Aeq,
		const Eigen::MatrixBase< DerivedB > &	beq
	)

inline

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