dynamic_model.cc
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00001 /******************************************************************************
00002 Copyright (c) 2018, Alexander W. Winkler. All rights reserved.
00003 
00004 Redistribution and use in source and binary forms, with or without
00005 modification, are permitted provided that the following conditions are met:
00006 
00007 * Redistributions of source code must retain the above copyright notice, this
00008   list of conditions and the following disclaimer.
00009 
00010 * Redistributions in binary form must reproduce the above copyright notice,
00011   this list of conditions and the following disclaimer in the documentation
00012   and/or other materials provided with the distribution.
00013 
00014 * Neither the name of the copyright holder nor the names of its
00015   contributors may be used to endorse or promote products derived from
00016   this software without specific prior written permission.
00017 
00018 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00019 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00020 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00021 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00022 FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00023 DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00024 SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00025 CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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00027 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00028 ******************************************************************************/
00029 
00030 #include <towr/models/dynamic_model.h>
00031 
00032 namespace towr {
00033 
00034 DynamicModel::DynamicModel(double mass, int ee_count)
00035 {
00036   m_ = mass;
00037   g_ = 9.80665;
00038 
00039   com_pos_.setZero();
00040   com_acc_.setZero();
00041 
00042   w_R_b_.setIdentity();
00043   omega_.setZero();
00044   omega_dot_ .setZero();
00045 
00046   ee_force_ = EELoad(ee_count);
00047   ee_pos_ = EEPos(ee_count);
00048 }
00049 
00050 void
00051 DynamicModel::SetCurrent (const ComPos& com_W, const Vector3d com_acc_W,
00052                           const Matrix3d& w_R_b, const AngVel& omega_W, const Vector3d& omega_dot_W,
00053                           const EELoad& force_W, const EEPos& pos_W)
00054 {
00055   com_pos_   = com_W;
00056   com_acc_   = com_acc_W;
00057 
00058   w_R_b_     = w_R_b;
00059   omega_     = omega_W;
00060   omega_dot_ = omega_dot_W;
00061 
00062   ee_force_  = force_W;
00063   ee_pos_    = pos_W;
00064 }
00065 
00066 } /* namespace towr */


towr_core
Author(s): Alexander W. Winkler
autogenerated on Mon Apr 9 2018 03:12:44