Public Member Functions | List of all members
towr::AnymalKinematicModel Class Reference

The Kinematics of the quadruped robot ANYmal. More...

#include <anymal_model.h>

Inheritance diagram for towr::AnymalKinematicModel:
Inheritance graph

Public Member Functions

 AnymalKinematicModel ()
- Public Member Functions inherited from towr::KinematicModel
virtual Vector3d GetMaximumDeviationFromNominal () const
 How far each foot can deviate from its nominal position. More...
virtual EEPos GetNominalStanceInBase () const
 The xyz-position [m] of each foot in default stance. More...
int GetNumberOfEndeffectors () const
 KinematicModel (int n_ee)
 Constructs a kinematic model of a robot with zero range of motion. More...
virtual ~KinematicModel ()=default

Additional Inherited Members

- Public Types inherited from towr::KinematicModel
using EEPos = std::vector< Eigen::Vector3d >
using Ptr = std::shared_ptr< KinematicModel >
using Vector3d = Eigen::Vector3d
- Protected Attributes inherited from towr::KinematicModel
Vector3d max_dev_from_nominal_
EEPos nominal_stance_

Detailed Description

The Kinematics of the quadruped robot ANYmal.

Definition at line 42 of file anymal_model.h.

Constructor & Destructor Documentation

towr::AnymalKinematicModel::AnymalKinematicModel ( )

Definition at line 44 of file anymal_model.h.

The documentation for this class was generated from the following file:

Author(s): Alexander W. Winkler
autogenerated on Fri Apr 2 2021 02:14:16