hyq_model.h
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29 
30 #ifndef TOWR_TOWR_ROS_INCLUDE_TOWR_ROS_HYQ_MODEL_H_
31 #define TOWR_TOWR_ROS_INCLUDE_TOWR_ROS_HYQ_MODEL_H_
32 
36 
37 namespace towr {
38 
43 public:
45  {
46  const double x_nominal_b = 0.31;
47  const double y_nominal_b = 0.29;
48  const double z_nominal_b = -0.58;
49 
50  nominal_stance_.at(LF) << x_nominal_b, y_nominal_b, z_nominal_b;
51  nominal_stance_.at(RF) << x_nominal_b, -y_nominal_b, z_nominal_b;
52  nominal_stance_.at(LH) << -x_nominal_b, y_nominal_b, z_nominal_b;
53  nominal_stance_.at(RH) << -x_nominal_b, -y_nominal_b, z_nominal_b;
54 
55  max_dev_from_nominal_ << 0.25, 0.20, 0.10;
56  }
57 };
58 
63 public:
65  4.26, 8.97, 9.88, -0.0063, 0.193, 0.0126,
66  4) {}
67 };
68 
69 } /* namespace towr */
70 
71 #endif /* TOWR_TOWR_ROS_INCLUDE_TOWR_ROS_HYQ_MODEL_H_ */
Contains all the robot specific kinematic parameters.
Dynamics model relating forces to base accelerations.
The Kinematics of the quadruped robot HyQ.
Definition: hyq_model.h:42
The Dynamics of the quadruped robot HyQ.
Definition: hyq_model.h:62
Vector3d max_dev_from_nominal_


towr
Author(s): Alexander W. Winkler
autogenerated on Fri Apr 2 2021 02:14:16