robot_model.cc
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2 Copyright (c) 2018, Alexander W. Winkler. All rights reserved.
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36 
37 namespace towr {
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39 
41 {
42  switch (robot) {
43  case Monoped:
44  dynamic_model_ = std::make_shared<MonopedDynamicModel>();
45  kinematic_model_ = std::make_shared<MonopedKinematicModel>();
46  break;
47  case Biped:
48  dynamic_model_ = std::make_shared<BipedDynamicModel>();
49  kinematic_model_ = std::make_shared<BipedKinematicModel>();
50  break;
51  case Hyq:
52  dynamic_model_ = std::make_shared<HyqDynamicModel>();
53  kinematic_model_ = std::make_shared<HyqKinematicModel>();
54  break;
55  case Anymal:
56  dynamic_model_ = std::make_shared<AnymalDynamicModel>();
57  kinematic_model_ = std::make_shared<AnymalKinematicModel>();
58  break;
59  default:
60  assert(false); // Error: Robot model not implemented.
61  break;
62  }
63 }
64 
65 
66 } // namespace towr
67 
68 
DynamicModel::Ptr dynamic_model_
Definition: robot_model.h:81
one-legged hopper
Definition: robot_model.h:70
RobotModel()=default
four-legged robot from Anybotics
Definition: robot_model.h:73
four-legged robot from IIT
Definition: robot_model.h:72
Robot
Robots for which kinematic and dynamic models are implemented.
Definition: robot_model.h:70
KinematicModel::Ptr kinematic_model_
Definition: robot_model.h:80


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