Class NormalTorques

Defined in File NormalTorque.h

Inheritance Relationships

Base Type

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

Class Documentation

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

Public Types

typedef std::shared_ptr<NormalTorques> Ptr

Public Functions

NormalTorques(const std::vector<std::string> &contact_name, const std::vector<AffineHelper> &wrench, XBot::ModelInterface &robot, const std::vector<Eigen::Vector2d> &Xs, const std::vector<Eigen::Vector2d> &Ys, const std::vector<double> &mu)

NormalTorque::Ptr getNormalTorque(const std::string &contact_name)

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