kinematic_model.h
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00001 /******************************************************************************
00002 Copyright (c) 2018, Alexander W. Winkler. All rights reserved.
00003 
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00007 * Redistributions of source code must retain the above copyright notice, this
00008   list of conditions and the following disclaimer.
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00010 * Redistributions in binary form must reproduce the above copyright notice,
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00014 * Neither the name of the copyright holder nor the names of its
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00016   this software without specific prior written permission.
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00018 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00029 
00030 #ifndef TOWR_MODELS_KINEMATIC_MODEL_H_
00031 #define TOWR_MODELS_KINEMATIC_MODEL_H_
00032 
00033 #include <memory>
00034 #include <vector>
00035 
00036 #include <Eigen/Dense>
00037 
00038 namespace towr {
00039 
00048 class KinematicModel {
00049 public:
00050   using Ptr      = std::shared_ptr<KinematicModel>;
00051   using EEPos    = std::vector<Eigen::Vector3d>;
00052   using Vector3d = Eigen::Vector3d;
00053 
00058   KinematicModel (int n_ee)
00059   {
00060     nominal_stance_.resize(n_ee);
00061     max_dev_from_nominal_.setZero();
00062   }
00063 
00064   virtual ~KinematicModel () = default;
00065 
00070   virtual EEPos GetNominalStanceInBase() const
00071   {
00072     return nominal_stance_;
00073   }
00074 
00079   virtual Vector3d GetMaximumDeviationFromNominal() const
00080   {
00081     return max_dev_from_nominal_;
00082   }
00083 
00087   int GetNumberOfEndeffectors() const
00088   {
00089     return nominal_stance_.size();
00090   }
00091 
00092 protected:
00093   EEPos nominal_stance_;
00094   Vector3d max_dev_from_nominal_;
00095 };
00096 
00097 } /* namespace towr */
00098 
00099 #endif /* TOWR_MODELS_KINEMATIC_MODEL_H_ */


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