#include <Tasks/Bounds.h>

Public Member Functions
	PolyTorqueBound ()

	PolyTorqueBound (std::vector< std::vector< Eigen::VectorXd >> lPTB, std::vector< std::vector< Eigen::VectorXd >> uPTB)

Public Attributes
std::vector< std::vector< Eigen::VectorXd > >	lPolyTorqueBound
	\( \underline{\tau}(q) \) More...

std::vector< std::vector< Eigen::VectorXd > >	uPolyTorqueBound
	\( \overline{\tau}(q) \) More...

Detailed Description

General force vector bounds in function of articular position \( \underline{\tau}(q) \) and \( \overline{\tau}(q) \). The upper and lower bound function is represented by a polynomial of any degree (coefficients are ordered by degree).

Constructor & Destructor Documentation

◆ PolyTorqueBound() [1/2]

tasks::PolyTorqueBound::PolyTorqueBound ( )

inline

◆ PolyTorqueBound() [2/2]

tasks::PolyTorqueBound::PolyTorqueBound	(	std::vector< std::vector< Eigen::VectorXd >>	lPTB,
		std::vector< std::vector< Eigen::VectorXd >>	uPTB
	)

inline

Member Data Documentation

◆ lPolyTorqueBound

std::vector<std::vector<Eigen::VectorXd> > tasks::PolyTorqueBound::lPolyTorqueBound

\( \underline{\tau}(q) \)

◆ uPolyTorqueBound

std::vector<std::vector<Eigen::VectorXd> > tasks::PolyTorqueBound::uPolyTorqueBound

\( \overline{\tau}(q) \)

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

src/Tasks/Bounds.h

Public Member Functions