biped_model.h
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00002 Copyright (c) 2018, Alexander W. Winkler. All rights reserved.
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00029 
00030 #ifndef TOWR_TOWR_ROS_INCLUDE_TOWR_ROS_BIPED_MODEL_H_
00031 #define TOWR_TOWR_ROS_INCLUDE_TOWR_ROS_BIPED_MODEL_H_
00032 
00033 #include <towr/models/kinematic_model.h>
00034 #include <towr/models/single_rigid_body_dynamics.h>
00035 #include <towr/models/endeffector_mappings.h>
00036 
00037 namespace towr {
00038 
00042 class BipedKinematicModel : public KinematicModel {
00043 public:
00044   BipedKinematicModel () : KinematicModel(2)
00045   {
00046     const double z_nominal_b = -0.65;
00047     const double y_nominal_b =  0.20;
00048 
00049     nominal_stance_.at(L) << 0.0,  y_nominal_b, z_nominal_b;
00050     nominal_stance_.at(R) << 0.0, -y_nominal_b, z_nominal_b;
00051 
00052     max_dev_from_nominal_  << 0.25, 0.15, 0.15;
00053   }
00054 };
00055 
00059 class BipedDynamicModel : public SingleRigidBodyDynamics {
00060 public:
00061   BipedDynamicModel()
00062   : SingleRigidBodyDynamics(20,
00063                     1.209,5.583,6.056,0.005,-0.190,-0.012,
00064                     2) {}
00065 };
00066 
00067 } /* namespace towr */
00068 
00069 #endif /* TOWR_TOWR_ROS_INCLUDE_TOWR_ROS_BIPED_MODEL_H_ */


towr
Author(s): Alexander W. Winkler
autogenerated on Mon Apr 15 2019 02:42:32