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Humanoid Path Planner
hpp-centroidal-dynamics
Commits
2cbd3cdd
Commit
2cbd3cdd
authored
7 years ago
by
Pierre Fernbach
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add mutator : setAlgorithm
parent
b6cd5e1e
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include/centroidal-dynamics-lib/centroidal_dynamics.hh
+2
-0
2 additions, 0 deletions
include/centroidal-dynamics-lib/centroidal_dynamics.hh
src/centroidal_dynamics.cpp
+7
-0
7 additions, 0 deletions
src/centroidal_dynamics.cpp
with
9 additions
and
0 deletions
include/centroidal-dynamics-lib/centroidal_dynamics.hh
+
2
−
0
View file @
2cbd3cdd
...
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@@ -119,6 +119,8 @@ public:
EquilibriumAlgorithm
getAlgorithm
(){
return
m_algorithm
;
}
void
setAlgorithm
(
EquilibriumAlgorithm
algorithm
);
/**
* @brief Specify a new set of contacts.
* All 3d vectors are expressed in a reference frame having the z axis aligned with gravity.
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src/centroidal_dynamics.cpp
+
7
−
0
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2cbd3cdd
...
...
@@ -130,6 +130,13 @@ bool Equilibrium::computeGenerators(Cref_matrixX3 contactPoints, Cref_matrixX3 c
return
true
;
}
void
Equilibrium
::
setAlgorithm
(
EquilibriumAlgorithm
algorithm
){
if
(
algorithm
==
EQUILIBRIUM_ALGORITHM_PP
&&
m_G_centr
.
rows
()
>
0
)
SEND_DEBUG_MSG
(
"Cannot set algorithm to PP after setting contacts, you should call again setNewContact with PP algorithm"
);
else
m_algorithm
=
algorithm
;
}
bool
Equilibrium
::
setNewContacts
(
const
MatrixX3ColMajor
&
contactPoints
,
const
MatrixX3ColMajor
&
contactNormals
,
const
double
frictionCoefficient
,
const
EquilibriumAlgorithm
alg
)
{
...
...
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