Public Member Functions | List of all members
MonopedDynamicModel Class Reference
Inheritance diagram for MonopedDynamicModel:
Inheritance graph
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Public Member Functions

 MonopedDynamicModel ()
 
- Public Member Functions inherited from towr::CentroidalModel
 CentroidalModel (double mass, const Eigen::Matrix3d &inertia_b, int ee_count)
 
 CentroidalModel (double mass, double Ixx, double Iyy, double Izz, double Ixy, double Ixz, double Iyz, int ee_count)
 
virtual BaseAcc GetDynamicViolation () const override
 
virtual Jac GetJacobianWrtBaseAng (const EulerConverter &base_angular, double t) const override
 
virtual Jac GetJacobianWrtBaseLin (const Jac &jac_base_lin_pos, const Jac &jac_acc_base_lin) const override
 
virtual Jac GetJacobianWrtEEPos (const Jac &jac_ee_pos, EE) const override
 
virtual Jac GetJacobianWrtForce (const Jac &jac_force, EE) const override
 
virtual ~CentroidalModel ()=default
 
- Public Member Functions inherited from towr::DynamicModel
double g () const
 
int GetEECount () const
 
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)
 

Additional Inherited Members

- Public Types inherited from towr::DynamicModel
typedef Eigen::Vector3d AngVel
 
typedef Eigen::Matrix< double, 6, 1 > BaseAcc
 
typedef Eigen::Vector3d ComPos
 
typedef uint EE
 
typedef EEPos EELoad
 
typedef std::vector< Eigen::Vector3d > EEPos
 
typedef Eigen::SparseMatrix< double, Eigen::RowMajor > Jac
 
typedef Eigen::Matrix3d Matrix3d
 
typedef std::shared_ptr< DynamicModelPtr
 
typedef Eigen::Vector3d Vector3d
 
- Protected Member Functions inherited from towr::DynamicModel
 DynamicModel (double mass, int ee_count)
 
virtual ~DynamicModel ()=default
 
- Protected Attributes inherited from towr::DynamicModel
Vector3d com_acc_
 
ComPos com_pos_
 
EELoad ee_force_
 
EEPos ee_pos_
 
AngVel omega_
 
Vector3d omega_dot_
 
Matrix3d w_R_b_
 

Detailed Description

Definition at line 58 of file example.cc.

Constructor & Destructor Documentation

MonopedDynamicModel::MonopedDynamicModel ( )
inline

Definition at line 60 of file example.cc.


The documentation for this class was generated from the following file:


towr_examples
Author(s): Alexander W. Winkler
autogenerated on Sun Apr 8 2018 02:18:57