Public Member Functions | List of all members
towr::HyqDynamicModel Class Reference

The Dynamics of the quadruped robot HyQ. More...

#include <hyq_model.h>

Inheritance diagram for towr::HyqDynamicModel:
Inheritance graph
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Public Member Functions

 HyqDynamicModel ()
 
- Public Member Functions inherited from towr::SingleRigidBodyDynamics
BaseAcc GetDynamicViolation () const override
 The violation of the system dynamics incurred by the current values. More...
 
Jac GetJacobianWrtBaseAng (const EulerConverter &base_angular, double t) const override
 How the base orientation affects the dynamic violation. More...
 
Jac GetJacobianWrtBaseLin (const Jac &jac_base_lin_pos, const Jac &jac_acc_base_lin) const override
 How the base position affects the dynamic violation. More...
 
Jac GetJacobianWrtEEPos (const Jac &jac_ee_pos, EE) const override
 How the endeffector positions affect the dynamic violation. More...
 
Jac GetJacobianWrtForce (const Jac &jac_force, EE) const override
 How the endeffector forces affect the dynamic violation. More...
 
 SingleRigidBodyDynamics (double mass, const Eigen::Matrix3d &inertia_b, int ee_count)
 Constructs a specific model. More...
 
 SingleRigidBodyDynamics (double mass, double Ixx, double Iyy, double Izz, double Ixy, double Ixz, double Iyz, int ee_count)
 Constructs a specific model. More...
 
virtual ~SingleRigidBodyDynamics ()=default
 
- Public Member Functions inherited from towr::DynamicModel
double g () const
 
int GetEECount () const
 the number of endeffectors that this robot has. More...
 
double m () const
 
void SetCurrent (const ComPos &com_W, const Vector3d com_acc_W, const Matrix3d &w_R_b, const AngVel &omega_W, const Vector3d &omega_dot_W, const EELoad &force_W, const EEPos &pos_W)
 Sets the current state and input of the system. More...
 

Additional Inherited Members

- Public Types inherited from towr::DynamicModel
using AngVel = Eigen::Vector3d
 
using BaseAcc = Eigen::Matrix< double, 6, 1 >
 
using ComPos = Eigen::Vector3d
 
using EE = uint
 
using EELoad = EEPos
 
using EEPos = std::vector< Eigen::Vector3d >
 
using Jac = Eigen::SparseMatrix< double, Eigen::RowMajor >
 
using Matrix3d = Eigen::Matrix3d
 
using Ptr = std::shared_ptr< DynamicModel >
 
using Vector3d = Eigen::Vector3d
 
- Protected Member Functions inherited from towr::DynamicModel
 DynamicModel (double mass, int ee_count)
 Construct a dynamic object. Protected as this is abstract base class. More...
 
virtual ~DynamicModel ()=default
 
- Protected Attributes inherited from towr::DynamicModel
Vector3d com_acc_
 x-y-z acceleration of the Center-of-Mass. More...
 
ComPos com_pos_
 x-y-z position of the Center-of-Mass. More...
 
EELoad ee_force_
 The endeffector force expressed in world frame. More...
 
EEPos ee_pos_
 The x-y-z position of each endeffector. More...
 
AngVel omega_
 angular velocity expressed in world frame. More...
 
Vector3d omega_dot_
 angular acceleration expressed in world frame. More...
 
Matrix3d w_R_b_
 rotation matrix from base (b) to world (w) frame. More...
 

Detailed Description

The Dynamics of the quadruped robot HyQ.

Definition at line 62 of file hyq_model.h.

Constructor & Destructor Documentation

◆ HyqDynamicModel()

towr::HyqDynamicModel::HyqDynamicModel ( )
inline

Definition at line 64 of file hyq_model.h.


The documentation for this class was generated from the following file:


towr
Author(s): Alexander W. Winkler
autogenerated on Mon Feb 28 2022 23:54:22