- 3.0.2 rigid body dynamics module.
RobCoGenTestIrb4600.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 
22 // define the NS of the robot in robcogen, e.g. iit::<ROBCOGEN_NS>
23 #define ROBCOGEN_NS testirb4600
24 // define the NS where all robot definitions go. Here ct::rbd::TestIrb4600. This defines ct::rbd::TestIrb4600::Dynamics etc.
25 #define TARGET_NS TestIrb4600
26 
27 // define the links
28 #define CT_BASE fr_link0
29 #define CT_L0 fr_link1
30 #define CT_L1 fr_link2
31 #define CT_L2 fr_link3
32 #define CT_L3 fr_link4
33 #define CT_L4 fr_link5
34 #define CT_L5 fr_link6
35 
36 // define single end effector (could also be multiple)
37 #define CT_N_EE 1
38 #define CT_EE0 fr_ee
39 #define CT_EE0_IS_ON_LINK 6
40 #define CT_EE0_FIRST_JOINT 0
41 #define CT_EE0_LAST_JOINT 5
42 
43 #include <ct/rbd/robot/robcogen/robcogenHelpers.h>
44 #include "Irb4600JointLimits.h"