monoped_model.h

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#ifndef TOWR_TOWR_ROS_INCLUDE_TOWR_ROS_MONOPED_MODEL_H_
#define TOWR_TOWR_ROS_INCLUDE_TOWR_ROS_MONOPED_MODEL_H_

#include <towr/models/kinematic_model.h>
#include <towr/models/single_rigid_body_dynamics.h>

namespace towr {

class MonopedKinematicModel : public KinematicModel {
public:
  MonopedKinematicModel () : KinematicModel(1)
  {
    nominal_stance_.at(0) = Eigen::Vector3d( 0.0, 0.0, -0.58);
    max_dev_from_nominal_ << 0.25, 0.15, 0.2;
  }
};

class MonopedDynamicModel : public SingleRigidBodyDynamics {
public:
  MonopedDynamicModel()
  : SingleRigidBodyDynamics(20,                      // mass of the robot
                    1.2, 5.5, 6.0, 0.0, -0.2, -0.01, // base inertia
                    1) {}                            // number of endeffectors
};

} /* namespace towr */

#endif /* TOWR_TOWR_ROS_INCLUDE_TOWR_ROS_MONOPED_MODEL_H_ */