hrp2.hpp
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#ifndef HRP2CONSTANTS
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#define HRP2CONSTANTS
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// #define STATEOBSERVATION_VERBOUS_CONSTRUCTORS
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#include <deque>
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#include <vector>
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#ifdef STATEOBSERVATION_VERBOUS_CONSTRUCTORS
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# include <iostream>
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#endif
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#include <boost/assert.hpp>
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#include <Eigen/Core>
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#include <Eigen/Geometry>
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#include <state-observation/api.h>
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namespace
stateObservation
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{
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namespace
hrp2
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{
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constexpr
double
m
= 56.8;
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constexpr
double
linKe
= 40000;
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constexpr
double
angKe
= 400;
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constexpr
double
linKv
= 600;
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constexpr
double
angKv
= 10;
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struct
contact
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{
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static
const
unsigned
nbMax
= 4;
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static
const
unsigned
nbModeledMax
= 2;
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// index for the contacts
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static
const
unsigned
lf
= 0;
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static
const
unsigned
rf
= 1;
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static
const
unsigned
lh
= 2;
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static
const
unsigned
rh
= 3;
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};
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}
// namespace hrp2
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}
// namespace stateObservation
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#endif // HRP2CONSTANTS
stateObservation::hrp2::angKv
constexpr double angKv
Definition:
hrp2.hpp:42
stateObservation::hrp2::linKv
constexpr double linKv
Definition:
hrp2.hpp:41
stateObservation::hrp2::contact::rf
static const unsigned rf
Definition:
hrp2.hpp:50
stateObservation::hrp2::linKe
constexpr double linKe
stifness and damping
Definition:
hrp2.hpp:39
stateObservation::hrp2::contact::lh
static const unsigned lh
Definition:
hrp2.hpp:51
stateObservation::hrp2::contact::rh
static const unsigned rh
Definition:
hrp2.hpp:52
stateObservation::hrp2::m
constexpr double m
mass of the robot
Definition:
hrp2.hpp:36
stateObservation::hrp2::contact::nbMax
static const unsigned nbMax
Definition:
hrp2.hpp:46
stateObservation::hrp2::contact
Definition:
hrp2.hpp:44
stateObservation::hrp2::contact::nbModeledMax
static const unsigned nbModeledMax
Definition:
hrp2.hpp:47
stateObservation::hrp2::angKe
constexpr double angKe
Definition:
hrp2.hpp:40
stateObservation
Definition:
bidim-elastic-inv-pendulum-dyn-sys.hpp:20
stateObservation::hrp2::contact::lf
static const unsigned lf
Definition:
hrp2.hpp:49
include
state-observation
tools
hrp2.hpp
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