Commit 7e2d1a52 authored by stevet's avatar stevet
Browse files

m_G_centre is public

parent 9daecb26
......@@ -29,6 +29,8 @@ class CENTROIDAL_DYNAMICS_DLLAPI Equilibrium
public:
const double m_mass; /// mass of the system
const Vector3 m_gravity; /// gravity vector
/** Gravito-inertial wrench generators (6 X numberOfContacts*generatorsPerContact) */
Matrix6X m_G_centr;
private:
static bool m_is_cdd_initialized; /// true if cdd lib has been initialized, false otherwise
......@@ -40,8 +42,6 @@ private:
unsigned int m_generatorsPerContact; /// number of generators to approximate the friction cone per contact point
/** Gravito-inertial wrench generators (6 X numberOfContacts*generatorsPerContact) */
Matrix6X m_G_centr;
/** Inequality matrix and vector defining the gravito-inertial wrench cone H w <= h */
MatrixXX m_H;
......
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