set gravity vector as an input argument of the CentroidalMPC #823
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LoreMoretti
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I made a mistake with the rebase. I will fix it. |
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GiulioRomualdi
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Thank you @LoreMoretti! Merging! |
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The goal of this PR is to expose the gravity vector as an input argument of the
CentroidalMPC.In this way, the user can pass it as other input arguments (like
currentCOM,externalWrench, ...).User can leverage the
setStatemember function, or thesetGravityone, to pass the gravity vector.Moreover, if the user does not specify it, by default it is set to
[0, 0, -9.81].