Go to the source code of this file.
|
| enum | COMNames {
COMHip,
COMThigh,
COMShank,
COMFoot,
COMNameLast
} |
| |
| enum | ControlNames {
ControlRightThighRotZ,
ControlRightKneeRotZ,
ControlRightAnkleRotZ,
ControlLeftThighRotZ,
ControlLeftKneeRotZ,
ControlLeftAnkleRotZ,
ControlNameLast
} |
| |
| enum | JointLocations { JointLocationHip = 0,
JointLocationKnee,
JointLocationAnkle,
JointLocationLast
} |
| |
| enum | ParamNames { ParamSteplength = 0,
ParamNameLast
} |
| |
| enum | PosNames {
PosHipPosX,
PosHipPosY,
PosHipRotZ,
PosRightThighRotZ,
PosRightShankRotZ,
PosRightAnkleRotZ,
PosLeftThighRotZ,
PosLeftShankRotZ,
PosLeftAnkleRotZ,
PosNameLast
} |
| |
| enum | RGyrationNames {
RGyrationHip,
RGyrationThigh,
RGyrationShank,
RGyrationFoot,
RGyrationLast
} |
| |
| enum | SegmentLengthsNames {
SegmentLengthsHip = 0,
SegmentLengthsThigh,
SegmentLengthsShank,
SegmentLengthsFootHeight,
SegmentLengthsFoot,
SegmentLengthsNameLast
} |
| |
| enum | SegmentMassNames {
SegmentMassHip,
SegmentMassThigh,
SegmentMassShank,
SegmentMassFoot,
SegmentMassLast
} |
| |
| enum | StateNames {
StateHipPosX,
StateHipPosY,
StateHipRotZ,
StateRightThighRotZ,
StateRightShankRotZ,
StateRightAnkleRotZ,
StateLeftThighRotZ,
StateLeftShankRotZ,
StateLeftAnkleRotZ,
StateHipVelX,
StateHipVelY,
StateHipRotVelZ,
StateRightThighRotVelZ,
StateRightShankRotVelZ,
StateRightAnkleRotVelZ,
StateLeftThighRotVelZ,
StateLeftShankRotVelZ,
StateLeftAnkleRotVelZ,
StateNameLast
} |
| |
|
| Vector3d | com_position [COMNameLast] |
| |
| ConstraintSet | constraint_set_both |
| |
| ConstraintSet | constraint_set_left |
| |
| ConstraintSet | constraint_set_left_flat |
| |
| ConstraintSet | constraint_set_right |
| |
| Body | foot_left_body |
| |
| unsigned int | foot_left_id |
| |
| Body | foot_right_body |
| |
| unsigned int | foot_right_id |
| |
| Vector3d | heel_point (0., 0., 0.) |
| |
| Body | hip_body |
| |
| unsigned int | hip_id |
| |
| Vector3d | joint_location [JointLocationLast] = { Vector3d(0., 0., 0.), Vector3d(0., -0.2425 * ModelHeight, 0.), Vector3d(0., -0.2529 * ModelHeight, 0.) } |
| |
| Joint | joint_rot_z (SpatialVector(0., 0., 1., 0., 0., 0.)) |
| |
| Joint | joint_txtyrz (SpatialVector(0., 0., 0., 1., 0., 0.), SpatialVector(0., 0., 0., 0., 1., 0.), SpatialVector(0., 0., 1., 0., 0., 0.)) |
| |
| Body | lower_leg_left_body |
| |
| unsigned int | lower_leg_left_id |
| |
| Body | lower_leg_right_body |
| |
| unsigned int | lower_leg_right_id |
| |
| Vector3d | medial_point (0., 0., 0.) |
| |
| const double | ModelHeight = 1.741 |
| |
| const double | ModelMass = 73. |
| |
| VectorNd | Q |
| |
| VectorNd | QDDot |
| |
| VectorNd | QDot |
| |
| Vector3d | rgyration [RGyrationLast] |
| |
| double | segment_lengths [SegmentLengthsNameLast] = { 0.4346, 0.4222, 0.4340, 0.0317, 0.2581 } |
| |
| double | segment_mass [SegmentMassLast] = { 0.4346 * ModelMass, 0.1416 * ModelMass, 0.0433 * ModelMass, 0.0137 * ModelMass } |
| |
| VectorNd | Tau |
| |
| const double | TEST_PREC = 1.0e-13 |
| |
| Body | upper_leg_left_body |
| |
| unsigned int | upper_leg_left_id |
| |
| Body | upper_leg_right_body |
| |
| unsigned int | upper_leg_right_id |
| |
| Enumerator |
|---|
| ControlRightThighRotZ |
|
| ControlRightKneeRotZ |
|
| ControlRightAnkleRotZ |
|
| ControlLeftThighRotZ |
|
| ControlLeftKneeRotZ |
|
| ControlLeftAnkleRotZ |
|
| ControlNameLast |
|
Definition at line 82 of file RdlTwoLegModelTests.cpp.
| Enumerator |
|---|
| JointLocationHip |
|
| JointLocationKnee |
|
| JointLocationAnkle |
|
| JointLocationLast |
|
Definition at line 109 of file RdlTwoLegModelTests.cpp.
| Enumerator |
|---|
| PosHipPosX |
|
| PosHipPosY |
|
| PosHipRotZ |
|
| PosRightThighRotZ |
|
| PosRightShankRotZ |
|
| PosRightAnkleRotZ |
|
| PosLeftThighRotZ |
|
| PosLeftShankRotZ |
|
| PosLeftAnkleRotZ |
|
| PosNameLast |
|
Definition at line 45 of file RdlTwoLegModelTests.cpp.
| Enumerator |
|---|
| RGyrationHip |
|
| RGyrationThigh |
|
| RGyrationShank |
|
| RGyrationFoot |
|
| RGyrationLast |
|
Definition at line 142 of file RdlTwoLegModelTests.cpp.
| Enumerator |
|---|
| SegmentLengthsHip |
|
| SegmentLengthsThigh |
|
| SegmentLengthsShank |
|
| SegmentLengthsFootHeight |
|
| SegmentLengthsFoot |
|
| SegmentLengthsNameLast |
|
Definition at line 93 of file RdlTwoLegModelTests.cpp.
| Enumerator |
|---|
| SegmentMassHip |
|
| SegmentMassThigh |
|
| SegmentMassShank |
|
| SegmentMassFoot |
|
| SegmentMassLast |
|
Definition at line 119 of file RdlTwoLegModelTests.cpp.
| Enumerator |
|---|
| StateHipPosX |
|
| StateHipPosY |
|
| StateHipRotZ |
|
| StateRightThighRotZ |
|
| StateRightShankRotZ |
|
| StateRightAnkleRotZ |
|
| StateLeftThighRotZ |
|
| StateLeftShankRotZ |
|
| StateLeftAnkleRotZ |
|
| StateHipVelX |
|
| StateHipVelY |
|
| StateHipRotVelZ |
|
| StateRightThighRotVelZ |
|
| StateRightShankRotVelZ |
|
| StateRightAnkleRotVelZ |
|
| StateLeftThighRotVelZ |
|
| StateLeftShankRotVelZ |
|
| StateLeftAnkleRotVelZ |
|
| StateNameLast |
|
Definition at line 59 of file RdlTwoLegModelTests.cpp.
template<typename T >
| void copy_values |
( |
T * |
dest, |
|
|
const T * |
src, |
|
|
size_t |
count |
|
) |
| |
| void init_model |
( |
Model * |
model | ) |
|
| int main |
( |
int |
argc, |
|
|
char ** |
argv |
|
) |
| |
| unsigned int foot_left_id |
| unsigned int foot_right_id |
| Joint joint_txtyrz(SpatialVector(0., 0., 0., 1., 0., 0.), SpatialVector(0., 0., 0., 0., 1., 0.), SpatialVector(0., 0., 1., 0., 0., 0.)) |
| unsigned int lower_leg_left_id |
| Body lower_leg_right_body |
| unsigned int lower_leg_right_id |
| const double ModelHeight = 1.741 |
| const double ModelMass = 73. |
| const double TEST_PREC = 1.0e-13 |
| unsigned int upper_leg_left_id |
| Body upper_leg_right_body |
| unsigned int upper_leg_right_id |
