Make some attribute of Solver protected.
@@ -86,19 +86,6 @@ class Solver {
Solver (const LinearConstraintPtrs& constraints, const GeometricPath& path,
const Vector& times);
- private:
- LinearConstraintPtrs constraints_;
- const GeometricPath& path_;
- Vector times_;
-
- /// \brief Number of stages.
- /// The number of gridpoints equals N + 1, where N is the number of stages.
- std::size_t N_;
- /// Total number of variables, including u, x.
- std::size_t nV_;
- /// Time increment between each stage. Size \ref nbStages
- Vector deltas_;
-
struct LinearConstraintParams {
int cid;
Vectors a, b, c, g;
@@ -115,6 +102,19 @@ class Solver {
std::vector<BoxConstraintParams > box;
} constraintsParams_;
+ LinearConstraintPtrs constraints_;
+ const GeometricPath& path_;
+ Vector times_;
+
+ private:
+ /// \brief Number of stages.
+ /// The number of gridpoints equals N + 1, where N is the number of stages.
+ std::size_t N_;
+ /// Total number of variables, including u, x.
+ std::size_t nV_;
+ /// Time increment between each stage. Size \ref nbStages
+ Vector deltas_;
+
}; // class Solver
} // namespace toppra
