Drake

LinearComplementarityConstraint A constraint of the form z >= 0, Wz + Mx + q >= 0, <z,Wz + q> = 0 for given W,q Constraints are applied to the stacked vector [x;z;gamma] wherever there are slack variables gamma. More...
Public Member Functions  
function  LinearComplementarityConstraint (W, q, M, mode, slack) 
Public Member Functions inherited from CompositeConstraint  
function  CompositeConstraint (constraints, n_slack) 
function  addConstraints (obj, constraints) 
Additional Inherited Members  
Public Attributes inherited from CompositeConstraint  
Property  constraints 
Property  n_slack 
LinearComplementarityConstraint A constraint of the form z >= 0, Wz + Mx + q >= 0, <z,Wz + q> = 0 for given W,q Constraints are applied to the stacked vector [x;z;gamma] wherever there are slack variables gamma.
mode 1: (default) z >= 0 (bb), W*z + M*x + q >= 0 (lin), <z,W*z+M*x+q)> = 0 (nl) (elementwise)
mode 3: (FischerBurmeister) z + W*z+M*x+q  sqrt(z^2 + (W*z+M*x+q)^2) (nl) (elementwise)
function LinearComplementarityConstraint  (  W  , 
q  ,  
M  ,  
mode  ,  
slack  
) 
obj 