dynamic_model.cc

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#include <towr/models/dynamic_model.h>

namespace towr {

DynamicModel::DynamicModel(double mass, int ee_count)
{
  m_ = mass;
  g_ = 9.80665;

  com_pos_.setZero();
  com_acc_.setZero();

  w_R_b_.setIdentity();
  omega_.setZero();
  omega_dot_ .setZero();

  ee_force_ = EELoad(ee_count);
  ee_pos_ = EEPos(ee_count);
}

void
DynamicModel::SetCurrent (const ComPos& com_W, const Vector3d com_acc_W,
                          const Matrix3d& w_R_b, const AngVel& omega_W, const Vector3d& omega_dot_W,
                          const EELoad& force_W, const EEPos& pos_W)
{
  com_pos_   = com_W;
  com_acc_   = com_acc_W;

  w_R_b_     = w_R_b;
  omega_     = omega_W;
  omega_dot_ = omega_dot_W;

  ee_force_  = force_W;
  ee_pos_    = pos_W;
}

} /* namespace towr */