doxy-ocra-wbi-plugins/html/AdmissibilityConstraints_8h_source.html

00001 #ifndef _ADMISSIBILITY_CONSTRAINTS_H_
00002 #define  _ADMISSIBILITY_CONSTRAINTS_H_
00003
00004 #include "walking-client/constraints/Constraint.h"
00005 #include "walking-client/constraints/SSDSAlternation.h"
00006 #include "walking-client/constraints/SingleSupport.h"
00007 #include "walking-client/constraints/ContactConfigHistory.h"
00008 #include "walking-client/constraints/ContactConfigEnforcement.h"
00009
00010 class AdmissibilityConstraints : public Constraint {
00011 private:
00012 protected:
00013     SingleSupport _singleSupport;
00014     SSDSAlternation _ssdsAlternation;
00015     ContactConfigHistory _contactConfigHistory;
00016     ContactConfigEnforcement _contactConfigEnforcement;
00017 public:
00018     AdmissibilityConstraints();
00019     virtual ~AdmissibilityConstraints();
00020 protected:
00021     virtual void buildMatrixCi();
00022     virtual void buildMatrixCii();
00023     virtual void buildVectord();
00024 };
00025 #endif