Commit 889db853 authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Add method isSatisfied as required by commit a23e5a9 in hpp-core.

parent 147d7aef
......@@ -276,6 +276,11 @@ namespace svd {
return value_.squaredNorm () < squareErrorThreshold_;
}
bool isSatisfied (ConfigurationIn_t config, vector_t& error) {
computeValueAndJacobian (config);
return value_.squaredNorm () - squareErrorThreshold_;
}
void addConstraint (const DifferentiableFunctionPtr_t& constraint)
{
size_ += constraint->outputSize ();
......
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