Class Contact

Inheritance Relationships

Base Type

Class Documentation

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

The Contact class estimates floating_base velocities (linear and angular) from the joint velocities.

We consider a link in contact with the environment which does not move wrt the world

Public Types

typedef std::shared_ptr<Contact> Ptr

Public Functions

Contact(XBot::ModelInterface &robot, const std::string &link_in_contact, const Eigen::MatrixXd &contact_matrix = Eigen::MatrixXd::Identity(6, 6), const Eigen::Affine3d &desired_contact_pose = Eigen::Affine3d::Identity())

Contact constructor which accept a robot model, a link name which represent the link in contact and a contact matrix (default is Identity)

Parameters

  • robot –

  • link_in_contact –

  • contact_matrix –

~Contact()
virtual void _update()

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

void setLinkInContact(const std::string link_in_contact)
const std::string &getLinkInContact() const