centroidal_model.h
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29 
30 #ifndef TOWR_MODELS_CENTROIDAL_MODEL_H_
31 #define TOWR_MODELS_CENTROIDAL_MODEL_H_
32 
33 #include "dynamic_model.h"
34 
35 namespace towr {
36 
53 class CentroidalModel : public DynamicModel {
54 public:
63  CentroidalModel (double mass, const Eigen::Matrix3d& inertia_b, int ee_count);
64 
71  CentroidalModel (double mass,
72  double Ixx, double Iyy, double Izz,
73  double Ixy, double Ixz, double Iyz,
74  int ee_count);
75 
76  virtual ~CentroidalModel () = default;
77 
78  // for documentation, see definition in base class DynamicModel
79  virtual BaseAcc GetDynamicViolation() const override;
80 
81  virtual Jac GetJacobianWrtBaseLin(const Jac& jac_base_lin_pos,
82  const Jac& jac_acc_base_lin) const override;
83  virtual Jac GetJacobianWrtBaseAng(const EulerConverter& base_angular,
84  double t) const override;
85  virtual Jac GetJacobianWrtForce(const Jac& jac_force, EE) const override;
86  virtual Jac GetJacobianWrtEEPos(const Jac& jac_ee_pos, EE) const override;
87 
88 private:
89 
93  Eigen::SparseMatrix<double, Eigen::RowMajor> I_b;
94 };
95 
96 
97 } /* namespace towr */
98 
99 #endif /* TOWR_MODELS_CENTROIDAL_MODEL_H_ */
virtual Jac GetJacobianWrtEEPos(const Jac &jac_ee_pos, EE) const override
How the endeffector positions affect the dynamic violation.
virtual ~CentroidalModel()=default
Eigen::Matrix< double, 6, 1 > BaseAcc
Definition: dynamic_model.h:65
Converts Euler angles and derivatives to angular quantities.
A interface for the the system dynamics of a legged robot.
Definition: dynamic_model.h:58
virtual Jac GetJacobianWrtBaseAng(const EulerConverter &base_angular, double t) const override
How the base orientation affects the dynamic violation.
virtual Jac GetJacobianWrtBaseLin(const Jac &jac_base_lin_pos, const Jac &jac_acc_base_lin) const override
How the base position affects the dynamic violation.
virtual BaseAcc GetDynamicViolation() const override
The violation of the system dynamics incurred by the current values.
Eigen::SparseMatrix< double, Eigen::RowMajor > I_b
Centroidal Dynamics model relating forces to base accelerations.
Eigen::SparseMatrix< double, Eigen::RowMajor > Jac
Definition: dynamic_model.h:66
CentroidalModel(double mass, const Eigen::Matrix3d &inertia_b, int ee_count)
Constructs a specific Centroidal model.
virtual Jac GetJacobianWrtForce(const Jac &jac_force, EE) const override
How the endeffector forces affect the dynamic violation.


towr_core
Author(s): Alexander W. Winkler
autogenerated on Sun Apr 8 2018 02:18:53