The Dynamics of the quadruped robot ANYmal. More...
#include <anymal_model.h>
Inheritance diagram for towr::AnymalDynamicModel:
Public Member Functions | |
| AnymalDynamicModel () | |
 Public Member Functions inherited from towr::SingleRigidBodyDynamics | |
| BaseAcc | GetDynamicViolation () const override |
| The violation of the system dynamics incurred by the current values. More... | |
| Jac | GetJacobianWrtBaseAng (const EulerConverter &base_angular, double t) const override |
| How the base orientation affects the dynamic violation. More... | |
| Jac | GetJacobianWrtBaseLin (const Jac &jac_base_lin_pos, const Jac &jac_acc_base_lin) const override |
| How the base position affects the dynamic violation. More... | |
| Jac | GetJacobianWrtEEPos (const Jac &jac_ee_pos, EE) const override |
| How the endeffector positions affect the dynamic violation. More... | |
| Jac | GetJacobianWrtForce (const Jac &jac_force, EE) const override |
| How the endeffector forces affect the dynamic violation. More... | |
| SingleRigidBodyDynamics (double mass, const Eigen::Matrix3d &inertia_b, int ee_count) | |
| Constructs a specific model. More... | |
| SingleRigidBodyDynamics (double mass, double Ixx, double Iyy, double Izz, double Ixy, double Ixz, double Iyz, int ee_count) | |
| Constructs a specific model. More... | |
| virtual | ~SingleRigidBodyDynamics ()=default |
| Public Member Functions inherited from towr::DynamicModel | |
| double | g () const |
| int | GetEECount () const |
| the number of endeffectors that this robot has. More... | |
| double | m () const |
| void | SetCurrent (const ComPos &com_W, const Vector3d com_acc_W, const Matrix3d &w_R_b, const AngVel &omega_W, const Vector3d &omega_dot_W, const EELoad &force_W, const EEPos &pos_W) |
| Sets the current state and input of the system. More... | |
Additional Inherited Members | |
| Public Types inherited from towr::DynamicModel | |
| using | AngVel = Eigen::Vector3d |
| using | BaseAcc = Eigen::Matrix< double, 6, 1 > |
| using | ComPos = Eigen::Vector3d |
| using | EE = uint |
| using | EELoad = EEPos |
| using | EEPos = std::vector< Eigen::Vector3d > |
| using | Jac = Eigen::SparseMatrix< double, Eigen::RowMajor > |
| using | Matrix3d = Eigen::Matrix3d |
| using | Ptr = std::shared_ptr< DynamicModel > |
| using | Vector3d = Eigen::Vector3d |
| Protected Member Functions inherited from towr::DynamicModel | |
| DynamicModel (double mass, int ee_count) | |
| Construct a dynamic object. Protected as this is abstract base class. More... | |
| virtual | ~DynamicModel ()=default |
| Protected Attributes inherited from towr::DynamicModel | |
| Vector3d | com_acc_ |
| x-y-z acceleration of the Center-of-Mass. More... | |
| ComPos | com_pos_ |
| x-y-z position of the Center-of-Mass. More... | |
| EELoad | ee_force_ |
| The endeffector force expressed in world frame. More... | |
| EEPos | ee_pos_ |
| The x-y-z position of each endeffector. More... | |
| AngVel | omega_ |
| angular velocity expressed in world frame. More... | |
| Vector3d | omega_dot_ |
| angular acceleration expressed in world frame. More... | |
| Matrix3d | w_R_b_ |
| rotation matrix from base (b) to world (w) frame. More... | |
Detailed Description
The Dynamics of the quadruped robot ANYmal.
Definition at line 62 of file anymal_model.h.
Constructor & Destructor Documentation
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inline |
Definition at line 64 of file anymal_model.h.
The documentation for this class was generated from the following file: