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RobWorkProject
23.9.11-
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Constraint for the XQPController. More...
#include <XQPController.hpp>
Public Member Functions | |
Constraint (const rw::math::Q &a, double b) | |
Constructor for constraint. More... | |
Public Attributes | |
rw::math::Q | _a |
Constraint a part. | |
double | _b |
Constraint b part. | |
Constraint for the XQPController.
A constraint is defined as \(a^T \dot{q} \geq b \)
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inline |
Constructor for constraint.
a | [in] the a part |
b | [in] the b part |