anymal_model.h

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#ifndef TOWR_TOWR_ROS_INCLUDE_TOWR_ROS_ANYMAL_MODEL_H_
#define TOWR_TOWR_ROS_INCLUDE_TOWR_ROS_ANYMAL_MODEL_H_

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

namespace towr {

class AnymalKinematicModel : public KinematicModel {
public:
  AnymalKinematicModel () : KinematicModel(4)
  {
    const double x_nominal_b = 0.34;
    const double y_nominal_b = 0.19;
    const double z_nominal_b = -0.42;

    nominal_stance_.at(LF) <<  x_nominal_b,   y_nominal_b, z_nominal_b;
    nominal_stance_.at(RF) <<  x_nominal_b,  -y_nominal_b, z_nominal_b;
    nominal_stance_.at(LH) << -x_nominal_b,   y_nominal_b, z_nominal_b;
    nominal_stance_.at(RH) << -x_nominal_b,  -y_nominal_b, z_nominal_b;

    max_dev_from_nominal_ << 0.15, 0.1, 0.10;
  }
};

class AnymalDynamicModel : public SingleRigidBodyDynamics {
public:
  AnymalDynamicModel()
  : SingleRigidBodyDynamics(29.5,
                    0.946438, 1.94478, 2.01835, 0.000938112, -0.00595386, -0.00146328,
                    4) {}
};

} // namespace towr

#endif /* TOWR_TOWR_ROS_INCLUDE_TOWR_ROS_ANYMAL_MODEL_H_ */