#include <Eigen/Core>
#include <Eigen/StdVector>
#include "generated/declarations.h"
#include "generated/forward_dynamics.h"
#include "generated/inertia_properties.h"
#include "generated/inverse_dynamics.h"
#include "generated/jacobians.h"
#include "generated/jsim.h"
#include "generated/transforms.h"
#include "generated/link_data_map.h"
#include "generated/traits.h"
#include <ct/rbd/rbd.h>
#include <ct/rbd/robot/robcogen/robcogenHelpers.h>
#include "HyQUrdfNames.h"
#include "codegen/HyQWithContactModelLinearizedForward.h"

Macros
#define	ROBCOGEN_NS HyQ

#define	TARGET_NS HyQ

#define	CT_BASE fr_trunk

#define	CT_L0 fr_LF_hipassembly

#define	CT_L1 fr_LF_upperleg

#define	CT_L2 fr_LF_lowerleg

#define	CT_L3 fr_RF_hipassembly

#define	CT_L4 fr_RF_upperleg

#define	CT_L5 fr_RF_lowerleg

#define	CT_L6 fr_LH_hipassembly

#define	CT_L7 fr_LH_upperleg

#define	CT_L8 fr_LH_lowerleg

#define	CT_L9 fr_RH_hipassembly

#define	CT_L10 fr_RH_upperleg

#define	CT_L11 fr_RH_lowerleg

#define	CT_N_EE 4

#define	CT_EE0 fr_LF_foot

#define	CT_EE0_IS_ON_LINK 3

#define	CT_EE0_FIRST_JOINT 0

#define	CT_EE0_LAST_JOINT 2

#define	CT_EE1 fr_RF_foot

#define	CT_EE1_IS_ON_LINK 6

#define	CT_EE1_FIRST_JOINT 3

#define	CT_EE1_LAST_JOINT 5

#define	CT_EE2 fr_LH_foot

#define	CT_EE2_IS_ON_LINK 9

#define	CT_EE2_FIRST_JOINT 6

#define	CT_EE2_LAST_JOINT 8

#define	CT_EE3 fr_RH_foot

#define	CT_EE3_IS_ON_LINK 12

#define	CT_EE3_FIRST_JOINT 9

#define	CT_EE3_LAST_JOINT 11

Macro Definition Documentation

◆ ROBCOGEN_NS

#define ROBCOGEN_NS HyQ

◆ TARGET_NS

#define TARGET_NS HyQ

◆ CT_BASE

#define CT_BASE fr_trunk

◆ CT_L0

#define CT_L0 fr_LF_hipassembly

◆ CT_L1

#define CT_L1 fr_LF_upperleg

◆ CT_L2

#define CT_L2 fr_LF_lowerleg

◆ CT_L3

#define CT_L3 fr_RF_hipassembly

◆ CT_L4

#define CT_L4 fr_RF_upperleg

◆ CT_L5

#define CT_L5 fr_RF_lowerleg

◆ CT_L6

#define CT_L6 fr_LH_hipassembly

◆ CT_L7

#define CT_L7 fr_LH_upperleg

◆ CT_L8

#define CT_L8 fr_LH_lowerleg

◆ CT_L9

#define CT_L9 fr_RH_hipassembly

◆ CT_L10

#define CT_L10 fr_RH_upperleg

◆ CT_L11

#define CT_L11 fr_RH_lowerleg

◆ CT_N_EE

#define CT_N_EE 4

◆ CT_EE0

#define CT_EE0 fr_LF_foot

◆ CT_EE0_IS_ON_LINK

#define CT_EE0_IS_ON_LINK 3

◆ CT_EE0_FIRST_JOINT

#define CT_EE0_FIRST_JOINT 0

◆ CT_EE0_LAST_JOINT

#define CT_EE0_LAST_JOINT 2

◆ CT_EE1

#define CT_EE1 fr_RF_foot

◆ CT_EE1_IS_ON_LINK

#define CT_EE1_IS_ON_LINK 6

◆ CT_EE1_FIRST_JOINT

#define CT_EE1_FIRST_JOINT 3

◆ CT_EE1_LAST_JOINT

#define CT_EE1_LAST_JOINT 5

◆ CT_EE2

#define CT_EE2 fr_LH_foot

◆ CT_EE2_IS_ON_LINK

#define CT_EE2_IS_ON_LINK 9

◆ CT_EE2_FIRST_JOINT

#define CT_EE2_FIRST_JOINT 6

◆ CT_EE2_LAST_JOINT

#define CT_EE2_LAST_JOINT 8

◆ CT_EE3

#define CT_EE3 fr_RH_foot

◆ CT_EE3_IS_ON_LINK

#define CT_EE3_IS_ON_LINK 12

◆ CT_EE3_FIRST_JOINT

#define CT_EE3_FIRST_JOINT 9

◆ CT_EE3_LAST_JOINT

#define CT_EE3_LAST_JOINT 11

Macros