ocra-wbi-plugins/ocra-icub-clients/walking-client/include/walking-client/constraints/Constraint.h File Reference

A constraint base class. More...

#include <walking-client/utils.h>
#include <Eigen/Core>
#include "unsupported/Eigen/MatrixFunctions"
#include <ocra/util/ErrorsHelper.h>
#include <memory>

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Classes
class	Constraint

---

Detailed Description

A constraint base class.

Author:

[Jorhabib Eljaik](https://github.com/jeljaik)

Date:

Feb 2017

Copyright:

GNU General Public License.

The basic form of a linear constraint in our MIQP formulation is

This file is part of ocra-recipes. Copyright (C) 2016 Institut des Systèmes Intelligents et de Robotique (ISIR)

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>.

In order to use this class instantiate an object of type MIQPLinearConstraints passing to it the period of execution of the containing thread (in ms) and the length of the preview window. At 'construction' time, shape and admissibility matrices will be built while the RHS of the total inequality constraints will be only allocated, waiting for an update by the user with the current and a history of states which can be done through the updateRHS() method. If the user requires the total constraints matrix, the latter can be queried through the method getConstraintsMatrixA(), for speed concerns, the user needs to pass a matrix to this method already allocated. This can be done by querying the resulting total number of constraints through getTotalNumberOfConstraints() to resize the rows of your output matrix, while the columns will correspond to (size of input vector times the size of the preview window). After this, the user is left with updating the RHS of the inequalities to be queried also through

Warning:

Currently this class is only taking into account all the shape and admissibility constraints used in Ibanes 2016 thesis, thus missing any walking constraints.

Author:

[Jorhabib Eljaik](https://github.com/jeljaik)

Date:

Feb 2017

Copyright:

GNU General Public License.