constraint-base.cpp

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//
// Copyright (c) 2017 CNRS
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//

#include <tsid/math/constraint-base.hpp>

using namespace tsid::math;

ConstraintBase::ConstraintBase(const std::string& name) : m_name(name) {}

ConstraintBase::ConstraintBase(const std::string& name, const unsigned int rows,
                               const unsigned int cols)
    : m_name(name) {
  m_A = Matrix::Zero(rows, cols);
}

ConstraintBase::ConstraintBase(const std::string& name, ConstRefMatrix A)
    : m_name(name), m_A(A) {}

const std::string& ConstraintBase::name() const { return m_name; }

const Matrix& ConstraintBase::matrix() const { return m_A; }

Matrix& ConstraintBase::matrix() { return m_A; }

bool ConstraintBase::setMatrix(ConstRefMatrix A) {
  PINOCCHIO_CHECK_INPUT_ARGUMENT(m_A.cols() == A.cols(),
                                 "cols do not match the constraint dimension");
  PINOCCHIO_CHECK_INPUT_ARGUMENT(m_A.rows() == A.rows(),
                                 "rows do not match the constraint dimension");
  m_A = A;
  return true;
}