dynamic_model.cc
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29 
31 
32 namespace towr {
33 
34 DynamicModel::DynamicModel(double mass, int ee_count)
35 {
36  m_ = mass;
37  g_ = 9.80665;
38 
39  com_pos_.setZero();
40  com_acc_.setZero();
41 
42  w_R_b_.setIdentity();
43  omega_.setZero();
44  omega_dot_ .setZero();
45 
46  ee_force_ = EELoad(ee_count);
47  ee_pos_ = EEPos(ee_count);
48 }
49 
50 void
51 DynamicModel::SetCurrent (const ComPos& com_W, const Vector3d com_acc_W,
52  const Matrix3d& w_R_b, const AngVel& omega_W, const Vector3d& omega_dot_W,
53  const EELoad& force_W, const EEPos& pos_W)
54 {
55  com_pos_ = com_W;
56  com_acc_ = com_acc_W;
57 
58  w_R_b_ = w_R_b;
59  omega_ = omega_W;
60  omega_dot_ = omega_dot_W;
61 
62  ee_force_ = force_W;
63  ee_pos_ = pos_W;
64 }
65 
66 } /* namespace towr */
Vector3d com_acc_
x-y-z acceleration of the Center-of-Mass.
Eigen::Vector3d AngVel
Definition: dynamic_model.h:72
Matrix3d w_R_b_
rotation matrix from base (b) to world (w) frame.
std::vector< Eigen::Vector3d > EEPos
Definition: dynamic_model.h:75
Eigen::Matrix3d Matrix3d
Definition: dynamic_model.h:70
Vector3d omega_dot_
angular acceleration expressed in world frame.
ComPos com_pos_
x-y-z position of the Center-of-Mass.
Eigen::Vector3d Vector3d
Definition: dynamic_model.h:69
AngVel omega_
angular velocity expressed in world frame.
Eigen::Vector3d ComPos
Definition: dynamic_model.h:71
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.
EELoad ee_force_
The endeffector force expressed in world frame.
EEPos ee_pos_
The x-y-z position of each endeffector.
DynamicModel(double mass, int ee_count)
Construct a dynamic object. Protected as this is abstract base class.
double g_
gravity acceleration [m/s^2]
double m_
mass of the robot


towr
Author(s): Alexander W. Winkler
autogenerated on Sat Apr 13 2019 02:28:00