Class FrictionCones

Defined in File FrictionCone.h

Inheritance Relationships

Base Type

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

Class Documentation

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

Public Types

typedef std::vector<FrictionCone::friction_cone> friction_cones

typedef std::shared_ptr<FrictionCones> Ptr

Public Functions

FrictionCones(const std::vector<std::string> &contact_name, const std::vector<AffineHelper> &wrench, XBot::ModelInterface &robot, const friction_cones &mu)

FrictionCone::Ptr getFrictionCone(const std::string &contact_name)

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