An example application of using TOWR together with ROS. More...
|Parameters||GetTowrParameters (int n_ee, const TowrCommandMsg &msg) const override|
|Sets the parameters required to formulate the TOWR problem. More...|
|void||SetIpoptParameters (const TowrCommandMsg &msg) override|
|Sets the paramters for IPOPT. More...|
|void||SetTowrInitialState () override|
|Sets the feet to nominal position on flat ground and base above. More...|
|Public Types inherited from towr::TowrRosInterface|
|using||TowrCommandMsg = towr_ros::TowrCommand|
|using||Vector3d = Eigen::Vector3d|
|using||XppVec = std::vector< xpp::RobotStateCartesian >|
|Protected Member Functions inherited from towr::TowrRosInterface|
|Protected Attributes inherited from towr::TowrRosInterface|
|the default formulation, can be adapted More...|
|NLP solver, could also use SNOPT. More...|
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.