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x-y-z acceleration of the Center-of-Mass.
rotation matrix from base (b) to world (w) frame.
std::vector< Eigen::Vector3d > EEPos
angular acceleration expressed in world frame.
x-y-z position of the Center-of-Mass.
angular velocity expressed in world frame.
void 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)
Sets the current state and input of the system.
The endeffector force expressed in world frame.
The x-y-z position of each endeffector.
DynamicModel(double mass, int ee_count)
Construct a dynamic object. Protected as this is abstract base class.
gravity acceleration [m/s^2]
mass of the robot
Author(s): Alexander W. Winkler
autogenerated on Fri Apr 2 2021 02:14:16