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| ActionModelQuadrupedTpl (typename Eigen::Matrix< Scalar, 3, 1 > offset_CoM=Eigen::Matrix< Scalar, 3, 1 >::Zero()) |
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| ~ActionModelQuadrupedTpl () |
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virtual void | calc (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const typename MathBase::VectorXs > &x, const Eigen::Ref< const typename MathBase::VectorXs > &u) |
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virtual void | calcDiff (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const typename MathBase::VectorXs > &x, const Eigen::Ref< const typename MathBase::VectorXs > &u) |
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virtual boost::shared_ptr< ActionDataAbstract > | createData () |
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const Eigen::Matrix< Scalar, 12, 1 > & | get_force_weights () const |
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void | set_force_weights (const typename MathBase::VectorXs &weights) |
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const Eigen::Matrix< Scalar, 12, 1 > & | get_state_weights () const |
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void | set_state_weights (const typename MathBase::VectorXs &weights) |
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const Scalar & | get_friction_weight () const |
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void | set_friction_weight (const Scalar &weight) |
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const Scalar & | get_mu () const |
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void | set_mu (const Scalar &mu_coeff) |
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const Scalar & | get_mass () const |
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void | set_mass (const Scalar &m) |
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const Scalar & | get_dt () const |
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void | set_dt (const Scalar &dt) |
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const Eigen::Matrix< Scalar, 3, 3 > & | get_gI () const |
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void | set_gI (const typename MathBase::Matrix3s &inertia_matrix) |
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const Scalar & | get_min_fz_contact () const |
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void | set_min_fz_contact (const Scalar &min_fz) |
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const Scalar & | get_max_fz_contact () const |
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void | set_max_fz_contact (const Scalar &max_fz_) |
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const Scalar & | get_shoulder_hlim () const |
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void | set_shoulder_hlim (const Scalar &hlim) |
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const Scalar & | get_shoulder_weight () const |
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void | set_shoulder_weight (const Scalar &weight) |
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const bool & | get_relative_forces () const |
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void | set_relative_forces (const bool &rel_forces) |
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const bool & | get_implicit_integration () const |
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void | set_implicit_integration (const bool &implicit) |
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void | update_model (const Eigen::Ref< const typename MathBase::MatrixXs > &l_feet, const Eigen::Ref< const typename MathBase::MatrixXs > &xref, const Eigen::Ref< const typename MathBase::MatrixXs > &S) |
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const Eigen::Matrix< Scalar, 12, 12 > & | get_A () const |
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const Eigen::Matrix< Scalar, 12, 12 > & | get_B () const |
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