hyqleg_inverse_kinematics.h

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#ifndef XPP_VIS_HYQLEG_INVERSE_KINEMATICS_H_
#define XPP_VIS_HYQLEG_INVERSE_KINEMATICS_H_
 
#include <Eigen/Dense>
 
namespace xpp {
 
enum HyqJointID {HAA=0, HFE, KFE, HyqlegJointCount};
 
class HyqlegInverseKinematics {
public:
  using Vector3d = Eigen::Vector3d;
  enum KneeBend { Forward, Backward };
 
  HyqlegInverseKinematics () = default;
  virtual ~HyqlegInverseKinematics () = default;
 
  Vector3d GetJointAngles(const Vector3d& ee_pos_H, KneeBend bend=Forward) const;
 
  void EnforceLimits(double& q, HyqJointID joint) const;
 
private:
  Vector3d hfe_to_haa_z = Vector3d(0.0, 0.0, 0.08); //distance of HFE to HAA in z direction
  double length_thigh = 0.35; // length of upper leg
  double length_shank = 0.33; // length of lower leg
};
 
} /* namespace xpp */
 
#endif /* XPP_VIS_HYQLEG_INVERSE_KINEMATICS_H_ */