A sparse MPC solver for walking motion generation.
Public Member Functions | Public Attributes | List of all members
AS::constraint Class Reference

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...
 

Detailed Description

Defines constraints associated with states of the system.

Definition at line 26 of file as_constraint.h.

Member Function Documentation

◆ set()

void AS::constraint::set ( const int  cind_,
const double  coef_x_,
const double  coef_y_,
const double  lb_,
const double  ub_,
const bool  active 
)
inline

Set parameters of the bound.

Parameters
[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]activeactivity of the bound

Definition at line 39 of file as_constraint.h.

Member Data Documentation

◆ cind

int AS::constraint::cind

The sequential number of the constraint.

Definition at line 58 of file as_constraint.h.

◆ coef_x

double AS::constraint::coef_x

Coefficients.

Definition at line 66 of file as_constraint.h.

◆ coef_y

double AS::constraint::coef_y

Coefficients.

Definition at line 67 of file as_constraint.h.

◆ ind

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.

◆ isActive

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.

◆ lb

double AS::constraint::lb

Lower bound.

Definition at line 72 of file as_constraint.h.

◆ sign

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.

◆ ub

double AS::constraint::ub

Upper bound.

Definition at line 75 of file as_constraint.h.


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