Simox  2.3.49
Saba::ConfigurationConstraint Class Referenceabstract

An interface class for defining custom constraints. More...

Public Member Functions

 ConfigurationConstraint (unsigned int dimension)
 
virtual ~ConfigurationConstraint ()
 
virtual bool isValid (const Eigen::VectorXf &c)=0
 

Protected Attributes

unsigned int dimension
 

Detailed Description

An interface class for defining custom constraints.

Constructor & Destructor Documentation

Saba::ConfigurationConstraint::ConfigurationConstraint ( unsigned int  dimension)
Saba::ConfigurationConstraint::~ConfigurationConstraint ( )
virtual

Member Function Documentation

virtual bool Saba::ConfigurationConstraint::isValid ( const Eigen::VectorXf &  c)
pure virtual

An derived class has to implement this method in order to check if a configuration c satisfies the constraint or not.

Parameters
cThe config to be tested.
Returns
True if c satisfies the constraint.

Field Documentation

unsigned int Saba::ConfigurationConstraint::dimension
protected