The Kinematics of the quadruped robot ANYmal. More...
#include <anymal_model.h>
Inheritance diagram for towr::AnymalKinematicModel:
Public Member Functions | |
| AnymalKinematicModel () | |
 Public Member Functions inherited from towr::KinematicModel | |
| virtual Vector3d | GetMaximumDeviationFromNominal () const |
| How far each foot can deviate from its nominal position. More... | |
| virtual EEPos | GetNominalStanceInBase () const |
| The xyz-position [m] of each foot in default stance. More... | |
| int | GetNumberOfEndeffectors () const |
| KinematicModel (int n_ee) | |
| Constructs a kinematic model of a robot with zero range of motion. More... | |
| virtual | ~KinematicModel ()=default |
Additional Inherited Members | |
| Public Types inherited from towr::KinematicModel | |
| using | EEPos = std::vector< Eigen::Vector3d > |
| using | Ptr = std::shared_ptr< KinematicModel > |
| using | Vector3d = Eigen::Vector3d |
| Protected Attributes inherited from towr::KinematicModel | |
| Vector3d | max_dev_from_nominal_ |
| EEPos | nominal_stance_ |
Detailed Description
The Kinematics of the quadruped robot ANYmal.
Definition at line 42 of file anymal_model.h.
Constructor & Destructor Documentation
◆ AnymalKinematicModel()
|
inline |
Definition at line 44 of file anymal_model.h.
The documentation for this class was generated from the following file: