Class CollisionAvoidance

• Defined in File CollisionAvoidance.h

Inheritance Relationships

Base Type

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

Class Documentation

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

Public Functions

CollisionAvoidance(constraints::velocity::CollisionAvoidance::Ptr constr)

virtual void _update() override

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

constraints::velocity::CollisionAvoidance::Ptr getConstraint()