#include <JointLimitConstraint.h>

Inheritance diagram for ocra::JointLimitConstraint:

Collaboration diagram for ocra::JointLimitConstraint:

Public Member Functions
	JointLimitConstraint (const Model &model, double hpos=.2)

	JointLimitConstraint (const Model &model, const Eigen::VectorXd &lowerLimits, const Eigen::VectorXd &upperLimits, double hpos=.2)

virtual	~JointLimitConstraint ()

double	getHorizonOfPrediction () const

void	setHorizonOfPrediction (double newHpos)

void	setJointLimits (const Eigen::VectorXd &lowerLimits, const Eigen::VectorXd &upperLimits)

void	setJointLowerLimits (const Eigen::VectorXd &newLowerLimits)

void	setJointUpperLimits (const Eigen::VectorXd &newUpperLimits)

const Eigen::VectorXd &	getJointLowerLimits () const

const Eigen::VectorXd &	getJointUpperLimits () const

void	setJointLimit (int i, double newLowerLimit, double newUpperLimit)

void	setJointLowerLimit (int i, double newLowerLimit)

void	setJointUpperLimit (int i, double newUpperLimit)

double	getJointLowerLimit (int i) const

double	getJointUpperLimit (int i) const

Public Member Functions inherited from ocra::ControlConstraint
	ControlConstraint ()

virtual	~ControlConstraint ()

LinearConstraint &	getConstraint ()

Protected Member Functions
virtual void	connectToController (const FullDynamicEquationFunction &dynamicEquation, bool useReducedProblem)

virtual void	disconnectFromController ()

Additional Inherited Members
Protected Attributes inherited from ocra::ControlConstraint
boost::shared_ptr< Constraint< LinearFunction > >	_constraint

Detailed Description

Definition at line 176 of file JointLimitConstraint.h.

Constructor & Destructor Documentation

JointLimitConstraint::JointLimitConstraint	(	const Model &	model,
		double	hpos = `.2`
	)

Definition at line 453 of file JointLimitConstraint.cpp.

JointLimitConstraint::JointLimitConstraint	(	const Model &	model,
		const Eigen::VectorXd &	lowerLimits,
		const Eigen::VectorXd &	upperLimits,
		double	hpos = `.2`
	)

Definition at line 462 of file JointLimitConstraint.cpp.

virtual ocra::JointLimitConstraint::~JointLimitConstraint ( )

inlinevirtual

Definition at line 181 of file JointLimitConstraint.h.

Member Function Documentation

void JointLimitConstraint::connectToController	(	const FullDynamicEquationFunction &	dynamicEquation,
		bool	useReducedProblem
	)

protectedvirtual

Implements ocra::ControlConstraint.

Definition at line 548 of file JointLimitConstraint.cpp.

void JointLimitConstraint::disconnectFromController ( )

protectedvirtual

Implements ocra::ControlConstraint.

Definition at line 564 of file JointLimitConstraint.cpp.

double JointLimitConstraint::getHorizonOfPrediction ( ) const

Definition at line 473 of file JointLimitConstraint.cpp.

double JointLimitConstraint::getJointLowerLimit ( int i ) const

Definition at line 487 of file JointLimitConstraint.cpp.

const Eigen::VectorXd & JointLimitConstraint::getJointLowerLimits ( ) const

Definition at line 477 of file JointLimitConstraint.cpp.

double JointLimitConstraint::getJointUpperLimit ( int i ) const

Definition at line 492 of file JointLimitConstraint.cpp.

const Eigen::VectorXd & JointLimitConstraint::getJointUpperLimits ( ) const

Definition at line 482 of file JointLimitConstraint.cpp.

void JointLimitConstraint::setHorizonOfPrediction ( double newHpos )

Definition at line 497 of file JointLimitConstraint.cpp.

void JointLimitConstraint::setJointLimit	(	int	i,
		double	newLowerLimit,
		double	newUpperLimit
	)

Definition at line 526 of file JointLimitConstraint.cpp.

void JointLimitConstraint::setJointLimits	(	const Eigen::VectorXd &	lowerLimits,
		const Eigen::VectorXd &	upperLimits
	)

Definition at line 504 of file JointLimitConstraint.cpp.

void JointLimitConstraint::setJointLowerLimit	(	int	i,
		double	newLowerLimit
	)

Definition at line 533 of file JointLimitConstraint.cpp.

void JointLimitConstraint::setJointLowerLimits ( const Eigen::VectorXd & newLowerLimits )

Definition at line 512 of file JointLimitConstraint.cpp.

void JointLimitConstraint::setJointUpperLimit	(	int	i,
		double	newUpperLimit
	)

Definition at line 540 of file JointLimitConstraint.cpp.

void JointLimitConstraint::setJointUpperLimits ( const Eigen::VectorXd & newUpperLimits )

Definition at line 519 of file JointLimitConstraint.cpp.

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

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation