public interface QPConstraintTerm extends QPTerm
|Modifier and Type||Method and Description|
Appends the constraints for this term to the constraint matrix A and offset vector b.
Returns the number of constraints associated with this term.
getController, getType, getWeight, isEnabled, setWeight
connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, setWritable, updateReferences
A x >= bwhile for equality constraints, they define the constraints
A x = b.
A- quadratic program constraint matrix
b- quadratic program offset vector
rowoff- row offset within A and b where the constraints should be added
t0- time at start of step
t1- time at end of step
int numConstraints(int qpsize)
qpsize- size of the quadratic program. For the tracking controller, this is the number of excitation values being used,