- 3.0.2 models module.
DoubleInvertedPendulum.h
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1 /**********************************************************************************************************************
2 This file is part of the Control Toolbox (https://github.com/ethz-adrl/control-toolbox), copyright by ETH Zurich.
3 Licensed under the BSD-2 license (see LICENSE file in main directory)
4 **********************************************************************************************************************/
5 
6 #pragma once
7 
8 #include <Eigen/Core>
9 #include <Eigen/StdVector>
10 
11 #include "generated/declarations.h"
12 #include "generated/jsim.h"
13 #include "generated/jacobians.h"
14 #include "generated/traits.h"
15 #include "generated/forward_dynamics.h"
16 #include "generated/inertia_properties.h"
17 #include "generated/inverse_dynamics.h"
18 #include "generated/transforms.h"
19 #include "generated/link_data_map.h"
20 
21 // define namespace and base
22 #define ROBCOGEN_NS ct_DoubleInvertedPendulum
23 #define TARGET_NS DoubleInvertedPendulum
24 
25 // define the links
26 #define CT_BASE fr_DoubleInvertedPendulumBase
27 #define CT_L0 fr_Link1
28 #define CT_L1 fr_Link2
29 
30 // define single end effector (could also be multiple)
31 #define CT_N_EE 1
32 #define CT_EE0 fr_ee
33 #define CT_EE0_IS_ON_LINK 2
34 #define CT_EE0_FIRST_JOINT 0
35 #define CT_EE0_LAST_JOINT 1
36 
37 #include <ct/rbd/robot/robcogen/robcogenHelpers.h>