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(std::string task_id, const XBot::ModelInterface &model, std::string link_name, const Eigen::MatrixXd &contact_matrix)

~Contact()

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

const std::string &getLinkName() const

bool baseLinkIsWorld() const

const Eigen::VectorXd &getError() const

getError returns the 6d cartesian error (position and orientation) between actual and reference pose

Returns: a \(R^{6}\) vector describing cartesian error between actual and reference pose

Protected Functions

void update_b()

Protected Attributes

const XBot::ModelInterface &_model

std::string _distal_link

int _distal_link_index

bool _base_link_is_world

bool _is_initialized

Eigen::VectorXd _error

Eigen::MatrixXd _K

Eigen::MatrixXd _Jtmp

Eigen::MatrixXd _Jrot