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sco::Constraint Class Referenceabstract

Non-convex vector-valued constraint function, which knows how to calculate its convex approximation. More...

#include <modeling.hpp>

Inheritance diagram for sco::Constraint:
sco::ComplCnt sco::ConstraintFromFunc sco::EqConstraint sco::IneqConstraint trajopt::FootHeightConstraint trajopt::CollisionConstraint trajopt::ZMPConstraint

Public Member Functions

virtual ConstraintType type ()=0
 inequality vs equality
 
virtual vector< double > value (const vector< double > &x)=0
 Evaluate at solution vector x.
 
virtual ConvexConstraintsPtr convex (const vector< double > &x, Model *model)=0
 Convexify at solution vector x.
 
vector< double > violations (const vector< double > &x)
 Calculate constraint violations (positive part for inequality constraint, absolute value for inequality constraint)
 
double violation (const vector< double > &x)
 Sum of violations.
 
string name ()
 
void setName (const string &name)
 
 Constraint (const string &name)
 

Protected Attributes

string name_
 

Detailed Description

Non-convex vector-valued constraint function, which knows how to calculate its convex approximation.


The documentation for this class was generated from the following file: