ct::models::HyQ Namespace Reference

Classes
class	HyQBareModelLinearizedForward
class	HyQBareModelLinearizedReverse
class	HyQContactModelForwardZeroSystem
	A floating base rigid body system that uses forward dynamics. The input vector is assumed to consist of joint torques and end-effector forces expressed in the world. More...
class	HyQForwardKinJacForward
class	HyQForwardKinJacReverse
class	HyQForwardZero
class	HyQInverseDynJacForward
class	HyQInverseDynJacReverse
class	HyQWithContactModelLinearizedForward
class	HyQWithContactModelLinearizedReverse

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

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

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

Typedef Documentation

HyQSystem

typedef ct::rbd::FloatingBaseFDSystem<ct::rbd::HyQ::tpl::Dynamics<double>, false> ct::models::HyQ::HyQSystem

ContactModel

template<typename SCALAR >

using ct::models::HyQ::ContactModel = typedef ct::rbd::EEContactModel<ct::rbd::HyQ::tpl::Kinematics<SCALAR> >

Function Documentation

hyqInverseDynamics()

template<typename SCALAR >

Eigen::Matrix<SCALAR, control_dim + 6, 1> ct::models::HyQ::hyqInverseDynamics

(

const Eigen::Matrix< SCALAR, state_dim+18, 1 > &

x

)

References ct::rbd::RBDState< NJOINTS, SCALAR >::fromStateVectorEulerXyz(), and u.

hyqForwardKinematics()

template<typename SCALAR >

Eigen::Matrix<SCALAR, nEE * 6, 1> ct::models::HyQ::hyqForwardKinematics

(

const Eigen::Matrix< SCALAR, state_dim, 1 > &

x

)

References ct::rbd::RBDState< NJOINTS, SCALAR >::basePose(), ct::rbd::RBDState< NJOINTS, SCALAR >::fromStateVectorEulerXyz(), i, ct::rbd::RBDState< NJOINTS, SCALAR >::jointPositions(), and nEE.

hyqContactModelForwardDynamics()

template<typename SCALAR >

Eigen::Matrix<SCALAR, state_dim, 1> ct::models::HyQ::hyqContactModelForwardDynamics

(

const Eigen::Matrix< SCALAR, state_dim+control_dim+1, 1 > &

x

)

References ct::rbd::FloatingBaseFDSystem< RBDDynamics, QUAT_INTEGRATION, EE_ARE_CONTROL_INPUTS >::setContactModel().

Variable Documentation

state_dim

const size_t ct::models::HyQ::state_dim = HyQSystem::STATE_DIM

Referenced by timing().

control_dim

const size_t ct::models::HyQ::control_dim = HyQSystem::CONTROL_DIM

Referenced by timing().

njoints

const size_t ct::models::HyQ::njoints = HyQSystem::Kinematics::NJOINTS

nEE

const size_t ct::models::HyQ::nEE = HyQSystem::Kinematics::NUM_EE

Referenced by hyqForwardKinematics(), and timing().