XQPController::Constraint Class Reference

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.

Detailed Description

Constraint for the XQPController.

A constraint is defined as \(a^T \dot{q} \geq b \)

Constructor & Destructor Documentation

Constraint()

Constraint ( const rw::math::Q &  a, double  b  )

inline

Constructor for constraint.

Parameters

a	[in] the a part
b	[in] the b part

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

• XQPController.hpp