A sparse MPC solver for walking motion generation (old version).: WMG/rect

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00001 
00008 #ifndef RECT_CONSTRAINT_H
00009 #define RECT_CONSTRAINT_H
00010 
00011 /****************************************
00012  * INCLUDES 
00013  ****************************************/
00014 
00015 #include <Eigen/Geometry>
00016 
00017 
00018 
00019 /****************************************
00020  * TYPEDEFS 
00021  ****************************************/
00022 
00023 using namespace Eigen;
00024 
00025 
00028 
00030 class RectangularConstraint_ZMP
00031 {
00032     public:
00033         RectangularConstraint_ZMP(const double *);
00034         void rotate_translate(const double, const double, const double, const double);
00035         void Constraints2Vert();
00036 
00037 
00038 
00057         double D[4*2];
00058 
00062         double d[4];
00063 
00065         double d_orig[4];
00066 
00068         MatrixXd vert;
00069 };
00070 
00072 #endif /*RECT_CONSTRAINT_H*/
00073