Class WrenchesLimits

Inheritance Relationships

Base Type

Class Documentation

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

The WrenchesLimits class extend wrench limit to a vector of wrenches.

Public Types

typedef std::shared_ptr<WrenchesLimits> Ptr

Public Functions

WrenchesLimits(const std::vector<std::string> &contact_name, const Eigen::VectorXd &lowerLims, const Eigen::VectorXd &upperLims, const std::vector<AffineHelper> &wrench)

WrenchesLimits constructor.

Parameters

  • contact_name – vector of names associated to a vector of wrench variables

  • lowerLims – lower limits

  • upperLims – upper limits

  • wrench –

WrenchesLimits(const std::vector<std::string> &contact_name, const std::vector<Eigen::VectorXd> &lowerLims, const std::vector<Eigen::VectorXd> &upperLims, const std::vector<AffineHelper> &wrench)

WrenchesLimits constructor.

Parameters

  • contact_name – vector of names associated to a vector of wrench variables

  • lowerLims – vector of lower limits

  • upperLims – vector of upper limits

  • wrench –

WrenchesLimits(const std::map<std::string, WrenchLimits::Ptr> &wrench_lims_constraints, const std::vector<AffineHelper> &wrench)

WrenchesLimits constructor.

Parameters

  • wrench_lims_constraints – map with names and wrench limits

  • wrench –

WrenchLimits::Ptr getWrenchLimits(const std::string &contact_name)

getWrenchLimits to access to internal wrench limits

Parameters

contact_name – of the contact to get the associated wrench limit

Returns

a wrench limit constraint

virtual void update()

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