variable_names.h

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#ifndef TOWR_VARIABLES_VARIABLE_NAMES_H_
#define TOWR_VARIABLES_VARIABLE_NAMES_H_

#include <string>

namespace towr {
namespace id {

static const std::string base_lin_nodes    = "base-lin";
static const std::string base_ang_nodes    = "base-ang";
static const std::string ee_motion_nodes   = "ee-motion_";
static const std::string ee_force_nodes    = "ee-force_";
static const std::string contact_schedule  = "ee-schedule";


static std::string EEMotionNodes(uint ee)
{
  return  ee_motion_nodes + std::to_string(ee);
}

static std::string EEForceNodes(uint ee)
{
  return  ee_force_nodes + std::to_string(ee);
}

static std::string EESchedule(uint ee)
{
  return  contact_schedule + std::to_string(ee);
}

} // namespace id
} // namespace towr



#endif /* TOWR_VARIABLES_VARIABLE_NAMES_H_ */