inverse_kinematics_hyq4.cc
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29 
31 
34 
35 namespace xpp {
36 
37 Joints
39 {
40  Vector3d ee_pos_H; // foothold expressed in hip frame
41  std::vector<Eigen::VectorXd> q_vec;
42 
43  // make sure always exactly 4 elements
44  auto pos_B = x_B.ToImpl();
45  pos_B.resize(4, pos_B.front());
46 
47  for (int ee=0; ee<pos_B.size(); ++ee) {
48 
50 
51  using namespace quad;
52  switch (ee) {
53  case LF:
54  ee_pos_H = pos_B.at(ee);
55  break;
56  case RF:
57  ee_pos_H = pos_B.at(ee).cwiseProduct(Eigen::Vector3d(1,-1,1));
58  break;
59  case LH:
60  ee_pos_H = pos_B.at(ee).cwiseProduct(Eigen::Vector3d(-1,1,1));
62  break;
63  case RH:
64  ee_pos_H = pos_B.at(ee).cwiseProduct(Eigen::Vector3d(-1,-1,1));
66  break;
67  default: // joint angles for this foot do not exist
68  break;
69  }
70 
71  ee_pos_H -= base2hip_LF_;
72  q_vec.push_back(leg.GetJointAngles(ee_pos_H, bend));
73  }
74 
75  return Joints(q_vec);
76 }
77 
78 } /* namespace xpp */
Container ToImpl() const
LH
Vector3d GetJointAngles(const Vector3d &ee_pos_H, KneeBend bend=Forward) const
Returns the joint angles to reach a Cartesian foot position.
Eigen::Vector3d Vector3d
LF
RH
RF
Joints GetAllJointAngles(const EndeffectorsPos &pos_b) const override
Returns joint angles to reach for a specific foot position.


xpp_hyq
Author(s): Alexander W. Winkler, Diego Pardo. , Carlos Mastalli , Ioannis Havoutis
autogenerated on Tue Dec 8 2020 03:10:35