Class CoP

Inheritance Relationships

Base Type

Class Documentation

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

Public Types

typedef std::shared_ptr<CoP> Ptr

Public Functions

CoP(const std::string &contact_link, const AffineHelper &wrench, XBot::ModelInterface &model, const Eigen::Vector2d &X_Lims, const Eigen::Vector2d &Y_Lims)

CoP constructor of the CoP constraint.

Parameters

  • model – of the robot

  • wrenche – affine helper

  • contact_link – frame in contact with the environment

  • X_Lims – [xl, xu] limits w.r.t. contact frame

  • Y_Lims – [yl, yu] limits

virtual void update()

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