Class LeggedModel

Defined in File LeggedModel.h

Class Documentation

class LeggedModel

Public Types

using SharedPtr = std::shared_ptr<LeggedModel>

Public Functions

explicit LeggedModel(const std::string &urdfXmlString)

virtual ~LeggedModel() = default

void setEndEffectorNames(const std::vector<std::string> &threeDofContactNames, const std::vector<std::string> &sixDofContactNames)

void setBaseNames(const std::string &baseName)

inline std::string getFrameName(const size_t &frameIndex) const

inline std::string getBaseName() const

std::vector<std::string> getContactNames() const

std::vector<std::string> getJointNames() const

inline const pinocchio::Model &getPinModel() const

inline pinocchio::Data &getPinData()

inline const pinocchio::Data &getPinData() const

inline vector_t &getGeneralizedPosition()

inline vector_t &getGeneralizedVelocity()

inline vector_t &getTorque()

virtual void update()

inline size_t getNumJoints() const

inline size_t getNumThreeDofContacts() const

inline size_t getNumSixDofContacts() const

inline const std::vector<size_t> &getEndEffectorFrameIndices() const

inline size_t getBaseFrameIndex() const

size_t getJointIndex(std::string jointName) const

inline quaternion_t getBaseRotation() const

matrix_t getMassMatrix()

matrix_t getCoriolisMatrix()

matrix_t getGeneralizedGravity()

matrix_t getSelectionMatrix()

matrix_t getContactJacobian()

matrix_t getBaseJacobian()

Protected Attributes

std::shared_ptr<pinocchio::Model> pinModelPtr_

std::unique_ptr<pinocchio::Data> pinDataPtr_

vector_t q_

vector_t v_

vector_t tau_

size_t numThreeDofContacts_ = {}

size_t numSixDofContacts_ = {}

std::vector<size_t> endEffectorFrameIndices_

size_t baseFrameIndex_ = {}

std::unordered_map<std::string, size_t> jointIndexMap_