ocra-wbi-plugins/ocra-icub-clients/walking-client/include/walking-client/constraints/Constancy.h

Go to the documentation of this file.

#include "walking-client/constraints/Constraint.h"

class Constancy : public Constraint {
private:
    /* Upper bounds */
    Eigen::Vector2d _S;
public:
    Constancy();
    virtual ~Constancy();
protected:
    virtual void buildMatrixCi();
    virtual void buildMatrixCii();
    virtual void buildVectord();
};