Class NormalTorque

Inheritance Relationships

Base Type

Class Documentation

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

The NormalTorque

class is based on the paper: “Stability of Surface Contacts for Humanoid Robots: Closed-Form Formulae of the Contact Wrench Cone

for Rectangular Support Areas”, by S.

Caron, Q.-C. Pham and Y. Nakamura https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7139910

Public Types

typedef std::shared_ptr<NormalTorque> Ptr

Public Functions

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

NormalTorque.

Parameters

  • contact_link –

  • wrench –

  • model –

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

  • Y_Lims – [yl, yu] limits w.r.t. contact frame

  • mu – friction coeff

virtual void update()

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

void setMu(const double mu)

setMu update friction coefficient

Parameters

mu –