Class PureRollingOrientation

Defined in File PureRolling.h

Inheritance Relationships

Base Type

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

Class Documentation

class PureRollingOrientation : public OpenSoT::Task<Eigen::MatrixXd, Eigen::VectorXd>

Public Types

typedef std::shared_ptr<PureRollingOrientation> Ptr

Public Functions

PureRollingOrientation(std::string wheel_link_name, double radius, const XBot::ModelInterface &model)

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