Contains all the robot specific kinematic parameters. More...

#include <kinematic_model.h>

Inheritance diagram for towr::KinematicModel:

[legend]

Public Types
using	EEPos = std::vector< Eigen::Vector3d >

using	Ptr = std::shared_ptr< KinematicModel >

using	Vector3d = Eigen::Vector3d

Public Member Functions
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

Protected Attributes
Vector3d	max_dev_from_nominal_

EEPos	nominal_stance_

Detailed Description

Contains all the robot specific kinematic parameters.

This class is mainly used to formulate the RangeOfMotionConstraint, restricting each endeffector to stay inside it's kinematic range.

Definition at line 48 of file kinematic_model.h.

Member Typedef Documentation

◆ EEPos

using towr::KinematicModel::EEPos = std::vector<Eigen::Vector3d>

Definition at line 51 of file kinematic_model.h.

◆ Ptr

using towr::KinematicModel::Ptr = std::shared_ptr<KinematicModel>

Definition at line 50 of file kinematic_model.h.

◆ Vector3d

using towr::KinematicModel::Vector3d = Eigen::Vector3d

Definition at line 52 of file kinematic_model.h.

Constructor & Destructor Documentation

◆ KinematicModel()

towr::KinematicModel::KinematicModel ( int n_ee )

inline

Constructs a kinematic model of a robot with zero range of motion.

Parameters

n_ee	The number of endeffectors of the robot.

Definition at line 58 of file kinematic_model.h.

◆ ~KinematicModel()

virtual towr::KinematicModel::~KinematicModel ( )

virtualdefault

Member Function Documentation

◆ GetMaximumDeviationFromNominal()

virtual Vector3d towr::KinematicModel::GetMaximumDeviationFromNominal ( ) const

inlinevirtual

How far each foot can deviate from its nominal position.

Returns: The deviation [m] expresed in the base frame.

Definition at line 79 of file kinematic_model.h.

◆ GetNominalStanceInBase()

virtual EEPos towr::KinematicModel::GetNominalStanceInBase ( ) const

inlinevirtual

The xyz-position [m] of each foot in default stance.

Returns: The vector from base to each foot expressed in the base frame.

Definition at line 70 of file kinematic_model.h.

◆ GetNumberOfEndeffectors()

int towr::KinematicModel::GetNumberOfEndeffectors ( ) const

inline

Returns: returns the number of endeffectors of this robot.

Definition at line 87 of file kinematic_model.h.

Member Data Documentation

◆ max_dev_from_nominal_

Vector3d towr::KinematicModel::max_dev_from_nominal_

protected

Definition at line 94 of file kinematic_model.h.

◆ nominal_stance_

EEPos towr::KinematicModel::nominal_stance_