1 #ifndef TORQUE_SOLVER_H 2 #define TORQUE_SOLVER_H 5 #include "RobotDynamics3D.h" 7 #include <KrisLibrary/optimization/MinNormProblem.h> 45 void SetGravity(
const Vector3& gravity) { gravityVector=gravity; }
46 void SetNorm(Real norm) { problem.norm = norm; }
47 void SetDynamics(
const Vector& ddq);
50 void Init(
bool weighted=
true);
53 void LimitContactForce(
int i,Real maximum,
const Vector3& dir);
54 void LimitContactForceSum(
const std::vector<int>& indices,Real maximum,
const Vector3& dir);
59 bool InTorqueBounds();
74 std::vector<int> active,passive;
Solves a sparse, linearly constrained minimum-norm problem.
Definition: MinNormProblem.h:52
A 3D vector class.
Definition: math3d/primitives.h:136
The logging system used in KrisLibrary.
Class defining kinematic and dynamic state of a robot, with commonly used functions. Inherits from RobotKinematics3D.
Definition: RobotDynamics3D.h:32