Class Torque
Defined in File Torque.h
Inheritance Relationships
Base Type
public OpenSoT::AffineHelperBase< Eigen::MatrixXd, Eigen::VectorXd >(Template Class AffineHelperBase)
Class Documentation
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class Torque : public OpenSoT::AffineHelperBase<Eigen::MatrixXd, Eigen::VectorXd>
Public Functions
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Torque(XBot::ModelInterface::Ptr model, const AffineHelper &qddot_var, std::vector<std::string> contact_links = std::vector<std::string>(), std::vector<AffineHelper> force_vars = std::vector<AffineHelper>())
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virtual void update()
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Torque(XBot::ModelInterface::Ptr model, const AffineHelper &qddot_var, std::vector<std::string> contact_links = std::vector<std::string>(), std::vector<AffineHelper> force_vars = std::vector<AffineHelper>())