| A sparse MPC solver for walking motion generation.
    | 
Defines constraints associated with states of the system. More...
#include <as_constraint.h>
| Public Member Functions | |
| void | set (const int cind_, const double coef_x_, const double coef_y_, const double lb_, const double ub_, const bool active) | 
| Set parameters of the bound.  More... | |
| Public Attributes | |
| int | cind | 
| The sequential number of the constraint.  More... | |
| int | ind | 
| Index of the first element of a state in the vector of states.  More... | |
| double | lb | 
| Lower bound.  More... | |
| double | ub | 
| Upper bound.  More... | |
| int | sign | 
| bool | isActive | 
| If isActive then one of the bounds is in the working set.  More... | |
| double | coef_x | 
| Coefficients.  More... | |
| double | coef_y | 
| Coefficients.  More... | |
Defines constraints associated with states of the system.
Definition at line 26 of file as_constraint.h.
| 
 | inline | 
Set parameters of the bound.
| [in] | cind_ | the number of constraint | 
| [in] | coef_x_ | coefficient for x coordinate | 
| [in] | coef_y_ | coefficient for y coordinate | 
| [in] | lb_ | lower bound | 
| [in] | ub_ | upper bound | 
| [in] | active | activity of the bound | 
Definition at line 39 of file as_constraint.h.
| int AS::constraint::cind | 
The sequential number of the constraint.
Definition at line 58 of file as_constraint.h.
| double AS::constraint::coef_x | 
Coefficients.
Definition at line 66 of file as_constraint.h.
| double AS::constraint::coef_y | 
Coefficients.
Definition at line 67 of file as_constraint.h.
| int AS::constraint::ind | 
Index of the first element of a state in the vector of states.
Definition at line 61 of file as_constraint.h.
| bool AS::constraint::isActive | 
If isActive then one of the bounds is in the working set.
Definition at line 86 of file as_constraint.h.
| double AS::constraint::lb | 
Lower bound.
Definition at line 72 of file as_constraint.h.
| int AS::constraint::sign | 
Since we do not distinguish lower/upper bounds of active constraints (<= and => inequlities are treated in the same way), we have to adjust signs of Lagrange multipliers before downdate. See also 'pBounds'.
Definition at line 83 of file as_constraint.h.
| double AS::constraint::ub | 
Upper bound.
Definition at line 75 of file as_constraint.h.
 1.8.15
 1.8.15