momentumopt::FrictionCone Struct Reference

Helper class to define a linear approximation of a friction cone. More...

#include <DynamicsOptimizer.hpp>

Public Types
typedef Eigen::Matrix< double, 4, 3 >	ConeMat

Public Member Functions
void	getCone (double fcoeff, FrictionCone::ConeMat &cone_mat)

Detailed Description

Helper class to define a linear approximation of a friction cone.

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The documentation for this struct was generated from the following file:

• include/momentumopt/dynopt/DynamicsOptimizer.hpp