constraint-equality.hpp

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//
// Copyright (c) 2017 CNRS
//

#ifndef __invdyn_math_constraint_equality_hpp__
#define __invdyn_math_constraint_equality_hpp__

#include "tsid/math/constraint-base.hpp"

namespace tsid {
namespace math {

class ConstraintEquality : public ConstraintBase {
 public:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 ConstraintEquality(const std::string& name);

 ConstraintEquality(const std::string& name, const unsigned int rows,
 const unsigned int cols);

 ConstraintEquality(const std::string& name, ConstRefMatrix A,
 ConstRefVector b);

 unsigned int rows() const override;
 unsigned int cols() const override;
 void resize(unsigned int r, unsigned int c) override;

 bool isEquality() const override;
 bool isInequality() const override;
 bool isBound() const override;

 const Vector& vector() const override;
 const Vector& lowerBound() const override;
 const Vector& upperBound() const override;

 Vector& vector() override;
 Vector& lowerBound() override;
 Vector& upperBound() override;

 bool setVector(ConstRefVector b) override;
 bool setLowerBound(ConstRefVector lb) override;
 bool setUpperBound(ConstRefVector ub) override;

 bool checkConstraint(ConstRefVector x, double tol = 1e-6) const override;

 protected:
 Vector m_b;
};

} // namespace math
} // namespace tsid

#endif // ifndef __invdyn_math_constraint_equality_hpp__