Class FloatingBase

Inheritance Relationships

Base Type

Class Documentation

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

The FloatingBase class implement a task which maps Forces on the floating base virtual chain to contacts.

Public Types

typedef std::shared_ptr<FloatingBase> Ptr

Public Functions

FloatingBase(XBot::ModelInterface &model, const std::vector<OpenSoT::AffineHelper> &wrenches, const std::vector<std::string> &contact_links)

FloatingBase constructor.

Parameters

  • model – of the robot

  • wrenches – affine helper

  • contact_links – vector of robot links which considered in contact with the environment

void setFloatingBaseTorque(const Eigen::Vector6d &floating_base_torque)

setFloatingBaseTorque set torques of “equivalent” fully-actuated floating base.

NOTE: floating_base_torque should contains gravity and non-linear term compensation!

Parameters

floating_base_torque – vector of 6 torques

void setEnabledContacts(const std::vector<bool> &enabled_contacts)

setEnabledContacts set vector of enabled contacts

Parameters

enabled_contacts – vector of true/false values for the contacts