robot_model.h

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#ifndef TOWR_MODELS_ROBOT_MODEL_H_
#define TOWR_MODELS_ROBOT_MODEL_H_

#include <map>
#include <string>

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

namespace towr {

struct RobotModel {
  enum Robot { Monoped, 
               Biped,   
               Hyq,     
               Anymal,  
               ROBOT_COUNT };


  RobotModel() = default;
  RobotModel(Robot robot);

  KinematicModel::Ptr kinematic_model_;
  DynamicModel::Ptr   dynamic_model_;
};


const static std::map<RobotModel::Robot, std::string> robot_names =
{
  {RobotModel::Monoped, "Monoped"},
  {RobotModel::Biped,   "Biped"},
  {RobotModel::Hyq,     "Hyq"},
  {RobotModel::Anymal,  "Anymal"}
};

} /* namespace towr */

#endif /* TOWR_MODELS_ROBOT_MODEL_H_ */