hyq_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_HYQ_MODEL_H_
00031 #define TOWR_TOWR_ROS_INCLUDE_TOWR_ROS_HYQ_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 HyqKinematicModel : public KinematicModel {
00043 public:
00044   HyqKinematicModel () : KinematicModel(4)
00045   {
00046     const double x_nominal_b = 0.31;
00047     const double y_nominal_b = 0.29;
00048     const double z_nominal_b = -0.58;
00049 
00050     nominal_stance_.at(LF) <<  x_nominal_b,   y_nominal_b, z_nominal_b;
00051     nominal_stance_.at(RF) <<  x_nominal_b,  -y_nominal_b, z_nominal_b;
00052     nominal_stance_.at(LH) << -x_nominal_b,   y_nominal_b, z_nominal_b;
00053     nominal_stance_.at(RH) << -x_nominal_b,  -y_nominal_b, z_nominal_b;
00054 
00055     max_dev_from_nominal_ << 0.25, 0.20, 0.10;
00056   }
00057 };
00058 
00062 class HyqDynamicModel : public SingleRigidBodyDynamics {
00063 public:
00064   HyqDynamicModel() : SingleRigidBodyDynamics(83,
00065                       4.26, 8.97, 9.88, -0.0063, 0.193, 0.0126,
00066                       4) {}
00067 };
00068 
00069 } /* namespace towr */
00070 
00071 #endif /* TOWR_TOWR_ROS_INCLUDE_TOWR_ROS_HYQ_MODEL_H_ */


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