towr::TowrRosApp Class Reference

An example application of using TOWR together with ROS. More...

Inheritance diagram for towr::TowrRosApp:

List of all members.

Public Member Functions
Parameters	GetTowrParameters (int n_ee, const TowrCommandMsg &msg) const override
	Sets the parameters required to formulate the TOWR problem.
void	SetIpoptParameters (const TowrCommandMsg &msg) override
	Sets the paramters for IPOPT.
void	SetTowrInitialState () override
	Sets the feet to nominal position on flat ground and base above.

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Detailed Description

An example application of using TOWR together with ROS.

Build your own application with your own formulation using the building blocks provided in TOWR and following the example below.

Definition at line 42 of file towr_ros_app.cc.

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Member Function Documentation

Parameters towr::TowrRosApp::GetTowrParameters	(	int	n_ee,
		const TowrCommandMsg &	msg
	)		const [inline, override, virtual]

Sets the parameters required to formulate the TOWR problem.

Implements towr::TowrRosInterface.

Definition at line 63 of file towr_ros_app.cc.

void towr::TowrRosApp::SetIpoptParameters

(

const TowrCommandMsg &

msg

)

[inline, override, virtual]

Sets the paramters for IPOPT.

Implements towr::TowrRosInterface.

Definition at line 92 of file towr_ros_app.cc.

void towr::TowrRosApp::SetTowrInitialState

(

)

[inline, override, virtual]

Sets the feet to nominal position on flat ground and base above.

Implements towr::TowrRosInterface.

Definition at line 47 of file towr_ros_app.cc.

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

• towr_ros_app.cc