Inheritance diagram for trajopt::ZMPConstraint:

Public Member Functions
	ZMPConstraint (RobotAndDOFPtr rad, const MatrixX2d &hullpts, const VarVector &vars)

DblVec	value (const DblVec &)
	Evaluate at solution vector x.

ConvexConstraintsPtr	convex (const DblVec &, Model *model)
	Convexify at solution vector x.

void	Plot (const DblVec &x, OR::EnvironmentBase &env, std::vector< OR::GraphHandlePtr > &handles)

Public Member Functions inherited from sco::IneqConstraint
ConstraintType	type ()
	inequality vs equality

Public Member Functions inherited from sco::Constraint
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)

Additional Inherited Members
Protected Attributes inherited from sco::Constraint
string	name_

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

Public Member Functions

Public Attributes