monoped_model.h
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29 
30 #ifndef TOWR_TOWR_ROS_INCLUDE_TOWR_ROS_MONOPED_MODEL_H_
31 #define TOWR_TOWR_ROS_INCLUDE_TOWR_ROS_MONOPED_MODEL_H_
32 
35 
36 namespace towr {
37 
42 public:
44  {
45  nominal_stance_.at(0) = Eigen::Vector3d( 0.0, 0.0, -0.58);
46  max_dev_from_nominal_ << 0.25, 0.15, 0.2;
47  }
48 };
49 
54 public:
56  : SingleRigidBodyDynamics(20, // mass of the robot
57  1.2, 5.5, 6.0, 0.0, -0.2, -0.01, // base inertia
58  1) {} // number of endeffectors
59 };
60 
61 } /* namespace towr */
62 
63 #endif /* TOWR_TOWR_ROS_INCLUDE_TOWR_ROS_MONOPED_MODEL_H_ */
Contains all the robot specific kinematic parameters.
The Kinematics of a one-legged hopper with HyQ leg.
Definition: monoped_model.h:41
The Dynamics of a one-legged hopper with HyQ leg.
Definition: monoped_model.h:53
Dynamics model relating forces to base accelerations.
Vector3d max_dev_from_nominal_


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