Class CoPs

Defined in File CoP.h

Inheritance Relationships

Base Type

public OpenSoT::Constraint< Eigen::MatrixXd, Eigen::VectorXd > (Template Class Constraint)

Class Documentation

class CoPs : public OpenSoT::Constraint<Eigen::MatrixXd, Eigen::VectorXd>

Public Types

typedef std::shared_ptr<CoPs> Ptr

Public Functions

CoPs(const std::vector<AffineHelper> &wrench, const std::vector<std::string> &contact_name, XBot::ModelInterface &robot, const std::vector<Eigen::Vector2d> &X_Lims, const std::vector<Eigen::Vector2d> &Y_Lims)

virtual void update(): Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.