Class TorqueLimits

Inheritance Relationships

Base Type

Class Documentation

class TorqueLimits : public OpenSoT::Constraint<Eigen::MatrixXd, Eigen::VectorXd>

The TorqueLimits class implements torque limits in inverse dynamics: 

 -tau_lims - h <= Mqddot - Jc'Fc <= tau_lims + h
NOTE: torque limits contains as well limits on floating base torque (that should be zeros)

Public Types

typedef std::shared_ptr<TorqueLimits> Ptr

Public Functions

TorqueLimits(const XBot::ModelInterface &robot, const AffineHelper &qddot, const std::vector<AffineHelper> &wrenches, const std::vector<std::string> &contact_links, const Eigen::VectorXd &torque_limits)

TorqueLimits.

Parameters

  • robot –

  • qddot –

  • wrenches –

  • contact_links –

  • torque_limits –

virtual void update()

Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

void setTorqueLimits(const Eigen::VectorXd &torque_limits)

setTorqueLimits to set new torque limits

Parameters

torque_limits –

bool enableContact(const std::string &contact_link)

enableContact for task computation

Parameters

contact_link –

Returns

false if the contact is not in the contacts vector

bool disableContact(const std::string &contact_link)

disableContact for task computation

Parameters

contact_link –

Returns

false if the contact is not in the contacts vector

const std::vector<bool> &getEnabledContacts() const

getEnabledContacts

Returns

vector of booleans indicating active contact (in the same order as in contact_links)