biped_model.h

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#ifndef TOWR_TOWR_ROS_INCLUDE_TOWR_ROS_BIPED_MODEL_H_
#define TOWR_TOWR_ROS_INCLUDE_TOWR_ROS_BIPED_MODEL_H_

#include <towr/models/kinematic_model.h>
#include <towr/models/single_rigid_body_dynamics.h>
#include <towr/models/endeffector_mappings.h>

namespace towr {

class BipedKinematicModel : public KinematicModel {
public:
  BipedKinematicModel () : KinematicModel(2)
  {
    const double z_nominal_b = -0.65;
    const double y_nominal_b =  0.20;

    nominal_stance_.at(L) << 0.0,  y_nominal_b, z_nominal_b;
    nominal_stance_.at(R) << 0.0, -y_nominal_b, z_nominal_b;

    max_dev_from_nominal_  << 0.25, 0.15, 0.15;
  }
};

class BipedDynamicModel : public SingleRigidBodyDynamics {
public:
  BipedDynamicModel()
  : SingleRigidBodyDynamics(20,
                    1.209,5.583,6.056,0.005,-0.190,-0.012,
                    2) {}
};

} /* namespace towr */

#endif /* TOWR_TOWR_ROS_INCLUDE_TOWR_ROS_BIPED_MODEL_H_ */