Class LinearMomentum

• Defined in File LinearMomentum.h

Inheritance Relationships

Base Type

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

Class Documentation

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

The LinearMomentum class implement the tracking of a desired linear momentum:

          \f$ \mathbf{A} \Delta \mathbf{q} = \mathbf{h}_d \text{dT}  \f$

where \( \mathbf{h}_d \) is the desired linear momentum at the CoM

Note

This is basically a copy of Enrico Mingo’s AngularMomentum with one difference that it takes the linear part of centroidal momentum matrix.

Public Types

typedef std::shared_ptr<LinearMomentum> Ptr

Public Functions

LinearMomentum(XBot::ModelInterface &robot)

LinearMomentum constructor.

Parameters

• x – joint states

• robot – reference to a model

~LinearMomentum()

void setReference(const Eigen::Vector3d &desiredLinearMomentum)

setReference set a desired linear momentum at CoM

Parameters

desiredLinearMomentum – vector 3x1 NOTE: the input desired linear momentum has to be multiplied by \( \text{dT} \)!

void setReference(const KDL::Vector &desiredLinearMomentum)

void getReference(Eigen::Vector3d &desiredLinearMomentum) const

getReference get the desired linear momentum at CoM

Parameters

desiredLinearMomentum – vector 3x1

void getReference(KDL::Vector &desiredLinearMomentum) const

std::string getBaseLink()

getBaseLink

Returns

“world”

std::string getDistalLink()

getDistalLink

Returns

“CoM”

Public Static Functions

static bool isLinearMomentum(OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>::TaskPtr task)

isLinearMomentum

Parameters

task – a pointer to a Task

Returns

true if the task is LinearMomentum

static OpenSoT::tasks::velocity::LinearMomentum::Ptr asLinearMomentum(OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>::TaskPtr task)

asLinearMomentum

Parameters

task – a pointer to a Task

Returns

a pointer to an LinearMomentum Task