helperFunctions.h File Reference

#include <ct/core/core.h>
#include <ct/rbd/rbd.h>
#include <ct/models/HyQ/HyQ.h>

Go to the source code of this file.

Namespaces
	ct
	ct::models
	ct::models::HyQ

Typedefs
typedef ct::rbd::FloatingBaseFDSystem< ct::rbd::HyQ::tpl::Dynamics< double >, false >	ct::models::HyQ::HyQSystem
template<typename SCALAR >
using	ct::models::HyQ::ContactModel = ct::rbd::EEContactModel< ct::rbd::HyQ::tpl::Kinematics< SCALAR > >

Functions
template<typename SCALAR >
Eigen::Matrix< SCALAR, control_dim+6, 1 >	ct::models::HyQ::hyqInverseDynamics (const Eigen::Matrix< SCALAR, state_dim+18, 1 > &x)
template<typename SCALAR >
Eigen::Matrix< SCALAR, nEE *6, 1 >	ct::models::HyQ::hyqForwardKinematics (const Eigen::Matrix< SCALAR, state_dim, 1 > &x)
template<typename SCALAR >
Eigen::Matrix< SCALAR, state_dim, 1 >	ct::models::HyQ::hyqContactModelForwardDynamics (const Eigen::Matrix< SCALAR, state_dim+control_dim+1, 1 > &x)

Variables
const size_t	ct::models::HyQ::state_dim = HyQSystem::STATE_DIM
const size_t	ct::models::HyQ::control_dim = HyQSystem::CONTROL_DIM
const size_t	ct::models::HyQ::njoints = HyQSystem::Kinematics::NJOINTS
const size_t	ct::models::HyQ::nEE = HyQSystem::Kinematics::NUM_EE