kinematic_model.h
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29 
30 #ifndef TOWR_MODELS_KINEMATIC_MODEL_H_
31 #define TOWR_MODELS_KINEMATIC_MODEL_H_
32 
33 #include <memory>
34 #include <vector>
35 
36 #include <Eigen/Dense>
37 
38 namespace towr {
39 
47 public:
48  using Ptr = std::shared_ptr<KinematicModel>;
49  using EEPos = std::vector<Eigen::Vector3d>;
50  using Vector3d = Eigen::Vector3d;
51 
56  KinematicModel (int n_ee)
57  {
58  nominal_stance_.resize(n_ee);
59  max_dev_from_nominal_.setZero();
60  }
61 
62  virtual ~KinematicModel () = default;
63 
68  virtual EEPos GetNominalStanceInBase() const
69  {
70  return nominal_stance_;
71  }
72 
78  {
79  return max_dev_from_nominal_;
80  }
81 
82 protected:
85 };
86 
87 } /* namespace towr */
88 
89 #endif /* TOWR_MODELS_KINEMATIC_MODEL_H_ */
Contains all the robot specific kinematic parameters.
KinematicModel(int n_ee)
Constructs a kinematic model of a robot with zero range of motion.
std::shared_ptr< KinematicModel > Ptr
virtual Vector3d GetMaximumDeviationFromNominal() const
How far each foot can deviate from its nominal position.
Eigen::Vector3d Vector3d
std::vector< Eigen::Vector3d > EEPos
virtual EEPos GetNominalStanceInBase() const
The xyz-position [m] of each foot in default stance.
virtual ~KinematicModel()=default
Vector3d max_dev_from_nominal_


towr_core
Author(s): Alexander W. Winkler
autogenerated on Sat Apr 7 2018 02:15:57