ocra-recipes
Doxygen documentation for the ocra-recipes repository
Constraint.cpp
Go to the documentation of this file.
2 #include <stdexcept>
3 
4 namespace ocra
5 {/*
6  int Constraint<Function>::UpdatableSlackVariable::cpt = 0;
7 
8  void Constraint<Function>::UpdatableSlackVariable::updateSize()
9  {
10  throw std::runtime_error("[Constraint<Function>::UpdatableSlackVariable::updateSize] Change of dimension for a function linked to a slack variable is not implemented");
11  }
12 
13  void Constraint<Function>::makeSlacked()
14  {
15  if (!isSlacked())
16  _slack = new UpdatableSlackVariable(_function);
17  }
18 
19  void Constraint<Function>::unmakeSlacked()
20  {
21  if (isSlacked())
22  delete _slack;
23  _slack = NULL;
24  }*/
25 }
26 
27 // cmake:sourcegroup=Constraint
Optimization-based Robot Controller namespace. a library of classes to write and solve optimization p...
Declaration file of the Constraint class.