Class Contact

Defined in File Contact.h

Inheritance Relationships

Base Type

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

Class Documentation

class Contact : public OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>

Public Types

typedef std::shared_ptr<Contact> Ptr

Public Functions

Contact(const std::string &task_id, const XBot::ModelInterface &robot, const std::string &contact_link, const Eigen::MatrixXd &contact_matrix = Eigen::MatrixXd())

Contact(const std::string &task_id, const XBot::ModelInterface &robot, const std::string &contact_link, const AffineHelper &qddot, const Eigen::MatrixXd &contact_matrix = Eigen::MatrixXd())

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

virtual void _log(XBot::MatLogger2::Ptr logger)

_log can be used to log internal Task variables

Parameters: logger – a shared pointer to a MatLogger