The Dynamics of a onelegged hopper with HyQ leg. More...
#include <monoped_model.h>
Public Member Functions  
MonopedDynamicModel ()  
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_ 
xyz acceleration of the CenterofMass. More...  
ComPos  com_pos_ 
xyz position of the CenterofMass. More...  
EELoad  ee_force_ 
The endeffector force expressed in world frame. More...  
EEPos  ee_pos_ 
The xyz 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...  
The Dynamics of a onelegged hopper with HyQ leg.
Definition at line 53 of file monoped_model.h.

inline 
Definition at line 55 of file monoped_model.h.