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 
49 public:
50  using Ptr = std::shared_ptr<KinematicModel>;
51  using EEPos = std::vector<Eigen::Vector3d>;
52  using Vector3d = Eigen::Vector3d;
53 
58  KinematicModel (int n_ee)
59  {
60  nominal_stance_.resize(n_ee);
61  max_dev_from_nominal_.setZero();
62  }
63 
64  virtual ~KinematicModel () = default;
65 
70  virtual EEPos GetNominalStanceInBase() const
71  {
72  return nominal_stance_;
73  }
74 
80  {
81  return max_dev_from_nominal_;
82  }
83 
88  {
89  return nominal_stance_.size();
90  }
91 
92 protected:
95 };
96 
97 } /* namespace towr */
98 
99 #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.
int GetNumberOfEndeffectors() const
std::shared_ptr< KinematicModel > Ptr
Eigen::Vector3d Vector3d
std::vector< Eigen::Vector3d > EEPos
virtual EEPos GetNominalStanceInBase() const
The xyz-position [m] of each foot in default stance.
virtual Vector3d GetMaximumDeviationFromNominal() const
How far each foot can deviate from its nominal position.
virtual ~KinematicModel()=default
Vector3d max_dev_from_nominal_


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