kinematic_model.h
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00001 /******************************************************************************
00002 Copyright (c) 2018, Alexander W. Winkler. All rights reserved.
00003 
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00007 * Redistributions of source code must retain the above copyright notice, this
00008   list of conditions and the following disclaimer.
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00010 * Redistributions in binary form must reproduce the above copyright notice,
00011   this list of conditions and the following disclaimer in the documentation
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00013 
00014 * Neither the name of the copyright holder nor the names of its
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00016   this software without specific prior written permission.
00017 
00018 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00029 
00030 #ifndef TOWR_MODELS_KINEMATIC_MODEL_H_
00031 #define TOWR_MODELS_KINEMATIC_MODEL_H_
00032 
00033 #include <memory>
00034 #include <vector>
00035 
00036 #include <Eigen/Dense>
00037 
00038 namespace towr {
00039 
00046 class KinematicModel {
00047 public:
00048   using Ptr      = std::shared_ptr<KinematicModel>;
00049   using EEPos    = std::vector<Eigen::Vector3d>;
00050   using Vector3d = Eigen::Vector3d;
00051 
00056   KinematicModel (int n_ee)
00057   {
00058     nominal_stance_.resize(n_ee);
00059     max_dev_from_nominal_.setZero();
00060   }
00061 
00062   virtual ~KinematicModel () = default;
00063 
00068   virtual EEPos GetNominalStanceInBase() const
00069   {
00070     return nominal_stance_;
00071   }
00072 
00077   virtual Vector3d GetMaximumDeviationFromNominal() const
00078   {
00079     return max_dev_from_nominal_;
00080   }
00081 
00082 protected:
00083   EEPos nominal_stance_;
00084   Vector3d max_dev_from_nominal_;
00085 };
00086 
00087 } /* namespace towr */
00088 
00089 #endif /* TOWR_MODELS_KINEMATIC_MODEL_H_ */


towr_core
Author(s): Alexander W. Winkler
autogenerated on Mon Apr 9 2018 03:12:44