Class MinJointVel

• Defined in File MinJointVel.h

Inheritance Relationships

Base Type

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

Class Documentation

class MinJointVel : public OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>

The MinJointVel class minimize the joint velocities in a joint acceleration scheme.

Public Types

typedef std::shared_ptr<MinJointVel> Ptr

Public Functions

MinJointVel(const XBot::ModelInterface &robot, double dT, AffineHelper qddot = AffineHelper())

MinJointVel.

Parameters

• robot –

• dT – control loop in [s]

• qddot –

bool setEps(const double eps)

setEps set regularisation weight

Parameters

eps –

Returns

false is negative