rb::OptimalControlCommandBuilder Class Reference

Public Member Functions
OptimalControlCommandBuilder &	AddCartesianTarget (const std::string &ref_link_name, const std::string &link_name, const math::SE3::MatrixType &T, double translation_weight, double rotation_weight)
OptimalControlCommandBuilder &	AddJointPositionTarget (const std::string &joint_name, double target_position, double weight)
OptimalControlCommandBuilder &	SetAccelerationLimitScaling (double acceleration_limit_scaling)
OptimalControlCommandBuilder &	SetCenterOfMassTarget (const std::string &ref_link_name, const Eigen::Vector3d &pose, double weight)
OptimalControlCommandBuilder &	SetCommandHeader (const CommandHeaderBuilder &builder)
OptimalControlCommandBuilder &	SetErrorScaling (double error_scaling)
OptimalControlCommandBuilder &	SetMinDeltaCost (double min_delta_cost)
OptimalControlCommandBuilder &	SetPatience (int patience)
OptimalControlCommandBuilder &	SetStopCost (double stop_cost)
OptimalControlCommandBuilder &	SetVelocityLimitScaling (double velocity_limit_scaling)

Friends
class	BodyCommandBuilderImpl
class	TorsoCommandBuilderImpl

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

• /external/rby1-sdk/include/rby1-sdk/robot_command_builder.h