Class PureRollingPosition

• Defined in File PureRolling.h

Inheritance Relationships

Base Type

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

Class Documentation

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

Public Types

typedef std::shared_ptr<PureRollingPosition> Ptr

Public Functions

PureRollingPosition(std::string wheel_link_name, double radius, const XBot::ModelInterface &model, const bool control_z = false)

void setOutwardNormal(const Eigen::Vector3d &n)

virtual void _update()

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

virtual void _log(XBot::MatLogger2::Ptr logger)

_log can be used to log internal Task variables

Parameters

logger – a shared pointer to a MatLogger