towr_xpp_ee_map.h
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35 #ifndef TOWR_TOWR_ROS_INCLUDE_TOWR_ROS_TOWR_XPP_EE_MAP_H_
36 #define TOWR_TOWR_ROS_INCLUDE_TOWR_ROS_TOWR_XPP_EE_MAP_H_
37 
38 #include <map>
41 
42 
43 namespace towr {
44 
46 static std::map<towr::BipedIDs, xpp::biped::FootIDs> biped_to_xpp_id =
47 {
48  {L, xpp::biped::L},
49  {R, xpp::biped::R},
50 };
51 
52 static std::map<towr::QuadrupedIDs, xpp::quad::FootIDs> quad_to_xpp_id =
53 {
54  {LF, xpp::quad::LF},
55  {RF, xpp::quad::RF},
56  {LH, xpp::quad::LH},
57  {RH, xpp::quad::RH}
58 };
59 
60 
62 static std::map<towr::BipedIDs, std::string> biped_to_name =
63 {
64  {L, "Left" },
65  {R, "Right"}
66 };
67 
68 static std::map<towr::QuadrupedIDs, std::string> quad_to_name =
69 {
70  {LF, "Left-Front" },
71  {RF, "Right-Front"},
72  {LH, "Left-Hind" },
73  {RH, "Right-Hind" }
74 };
75 
76 
85 static std::pair<xpp::EndeffectorID, std::string>
86 ToXppEndeffector(int number_of_ee, int towr_ee_id)
87 {
88  std::pair<xpp::EndeffectorID, std::string> ee;
89 
90  switch (number_of_ee) {
91  case 1:
92  ee.first = towr_ee_id;
93  ee.second = "E0";
94  break;
95  case 2: {
96  auto id = static_cast<towr::BipedIDs>(towr_ee_id);
97  ee.first = biped_to_xpp_id.at(id);
98  ee.second = biped_to_name.at(id);
99  break;
100  }
101  case 4: {
102  auto id = static_cast<towr::QuadrupedIDs>(towr_ee_id);
103  ee.first = quad_to_xpp_id.at(id);
104  ee.second = quad_to_name.at(id);
105  break;
106  }
107  default:
108  assert(false); // endeffector mapping not defined
109  break;
110  }
111 
112  return ee;
113 }
114 
119 {
120  xpp::StateLinXd xpp(towr.p().rows());
121 
122  xpp.p_ = towr.p();
123  xpp.v_ = towr.v();
124  xpp.a_ = towr.a();
125 
126  return xpp;
127 }
128 
129 } // namespace towr
130 
131 #endif /* TOWR_TOWR_ROS_INCLUDE_TOWR_ROS_TOWR_XPP_EE_MAP_H_ */
static std::map< towr::BipedIDs, xpp::biped::FootIDs > biped_to_xpp_id
static std::map< towr::QuadrupedIDs, xpp::quad::FootIDs > quad_to_xpp_id
static std::map< towr::BipedIDs, std::string > biped_to_name
QuadrupedIDs
static std::pair< xpp::EndeffectorID, std::string > ToXppEndeffector(int number_of_ee, int towr_ee_id)
const VectorXd p() const
static std::map< towr::QuadrupedIDs, std::string > quad_to_name
const VectorXd v() const
static xpp::StateLinXd ToXpp(const towr::State &towr)
const VectorXd a() const


towr_ros
Author(s): Alexander W. Winkler
autogenerated on Fri Apr 2 2021 02:14:21