robot_model.h
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29 
30 #ifndef TOWR_MODELS_ROBOT_MODEL_H_
31 #define TOWR_MODELS_ROBOT_MODEL_H_
32 
33 #include <map>
34 #include <string>
35 
38 
39 namespace towr {
40 
63 struct RobotModel {
70  enum Robot { Monoped,
72  Hyq,
75 
76 
77  RobotModel() = default;
78  RobotModel(Robot robot);
79 
82 };
83 
84 
85 const static std::map<RobotModel::Robot, std::string> robot_names =
86 {
87  {RobotModel::Monoped, "Monoped"},
88  {RobotModel::Biped, "Biped"},
89  {RobotModel::Hyq, "Hyq"},
90  {RobotModel::Anymal, "Anymal"}
91 };
92 
93 } /* namespace towr */
94 
95 #endif /* TOWR_MODELS_ROBOT_MODEL_H_ */
DynamicModel::Ptr dynamic_model_
Definition: robot_model.h:81
one-legged hopper
Definition: robot_model.h:70
RobotModel()=default
Base class for robot specific kinematics and dynamics.
Definition: robot_model.h:63
std::shared_ptr< KinematicModel > Ptr
std::shared_ptr< DynamicModel > Ptr
Definition: dynamic_model.h:68
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
static const std::map< RobotModel::Robot, std::string > robot_names
Definition: robot_model.h:85


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