Class StaticConstraint

Inheritance Relationships

Base Type

Class Documentation

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

The StaticConstraint class computes the static (only gravity is taken into account) distribution of contact wrenches [6 x 1] given a list of links in contact: 

 \boldsymbol{\tau} + \mathbf{J}_c^T\mathbf{F} = \mathbf{g}

Public Functions

StaticConstraint(const XBot::ModelInterface &robot, std::vector<std::string> contact_links, std::vector<AffineHelper> forces, AffineHelper robot_torque)

StaticConstraint constructor.

Parameters

  • robot – model

  • contact_links – list of link frames in contact

  • forces – variables

  • robot_torque – variables