Class WrenchLimits

• Defined in File WrenchLimits.h

Inheritance Relationships

Base Type

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

Class Documentation

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

The WrenchLimits class implements wrench limits.

Public Types

typedef std::shared_ptr<WrenchLimits> Ptr

Public Functions

WrenchLimits(const std::string &contact_name, const Eigen::VectorXd &lowerLims, const Eigen::VectorXd &upperLims, AffineHelper wrench)

WrenchLimits Contructor.

Parameters

• contact_name – name fo the contact associated to the variable

• lowerLims – lower limits

• upperLims – upper limits

• wrench – variable

void getWrenchLimits(Eigen::VectorXd &lowerLims, Eigen::VectorXd &upperLims) const

getWrenchLimits to retrieve internal limits

Parameters

• lowerLims –

• upperLims –

void setWrenchLimits(const Eigen::VectorXd &lowerLims, const Eigen::VectorXd &upperLims)

setWrenchLimits to set internal limits

Parameters

• lowerLims –

• upperLims –

void releaseContact(bool released)

releaseContact of true the wrench limits are all set to 0, if false the normal limits are used.

Parameters

released – true/false

bool isReleased()

isReleased

Returns

true if the wrench limts are all zeros