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HierarchicalOptimizationControl::Task Struct Reference

Task struct. More...

#include <hierarchical_optimization_controller.h>

Public Attributes

bool has_eq_constraint = false
 Bool indicating whether the task has a linear equality constraint. More...
 
bool has_ineq_constraint = false
 Bool indicating whether the task has a linear inequality constraint. More...
 
Eigen::MatrixXd A_eq
 Linear equality constraint matrix A. More...
 
Eigen::VectorXd b_eq
 Linear equality constraint vector b.
More...
 
Eigen::MatrixXd A_ineq
 Linear inequality constraint matrix A. More...
 
Eigen::VectorXd b_ineq
 Linear inequality constraint vector b. More...
 

Detailed Description

Task struct.

Definition at line 67 of file hierarchical_optimization_controller.h.

Member Data Documentation

◆ has_eq_constraint

bool HierarchicalOptimizationControl::Task::has_eq_constraint = false

Bool indicating whether the task has a linear equality constraint.

Definition at line 68 of file hierarchical_optimization_controller.h.

◆ has_ineq_constraint

bool HierarchicalOptimizationControl::Task::has_ineq_constraint = false

Bool indicating whether the task has a linear inequality constraint.

Definition at line 69 of file hierarchical_optimization_controller.h.

◆ A_eq

Eigen::MatrixXd HierarchicalOptimizationControl::Task::A_eq

Linear equality constraint matrix A.

Definition at line 70 of file hierarchical_optimization_controller.h.

◆ b_eq

Eigen::VectorXd HierarchicalOptimizationControl::Task::b_eq

Linear equality constraint vector b.

Definition at line 71 of file hierarchical_optimization_controller.h.

◆ A_ineq

Eigen::MatrixXd HierarchicalOptimizationControl::Task::A_ineq

Linear inequality constraint matrix A.

Definition at line 72 of file hierarchical_optimization_controller.h.

◆ b_ineq

Eigen::VectorXd HierarchicalOptimizationControl::Task::b_ineq

Linear inequality constraint vector b.

Definition at line 73 of file hierarchical_optimization_controller.h.

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