A sparse MPC solver for walking motion generation.
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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.
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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.