Quadruped.h File Reference

Data structure containing parameters for quadruped robot. More...

#include "Dynamics/ActuatorModel.h"
#include "Dynamics/FloatingBaseModel.h"
#include "Dynamics/SpatialInertia.h"
#include <eigen3/Eigen/StdVector>
#include <vector>

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Classes
class	Quadruped< T >

Namespaces
	cheetah
	linkID

Functions
template<typename T , typename T2 >
Vec3< T >	withLegSigns (const Eigen::MatrixBase< T2 > &v, int legID)

Variables
constexpr size_t	cheetah::num_act_joint = 12
constexpr size_t	cheetah::num_q = 19
constexpr size_t	cheetah::dim_config = 18
constexpr size_t	cheetah::num_leg = 4
constexpr size_t	cheetah::num_leg_joint = 3
constexpr float	cheetah::servo_rate = 0.001
constexpr size_t	linkID::FR = 9
constexpr size_t	linkID::FL = 11
constexpr size_t	linkID::HR = 13
constexpr size_t	linkID::HL = 15
constexpr size_t	linkID::FR_abd = 2
constexpr size_t	linkID::FL_abd = 0
constexpr size_t	linkID::HR_abd = 3
constexpr size_t	linkID::HL_abd = 1

Detailed Description

Data structure containing parameters for quadruped robot.

This file contains the Quadruped class. This stores all the parameters for a quadruped robot. There are utility functions to generate Quadruped objects for Cheetah 3 (and eventually mini-cheetah). There is a buildModel() method which can be used to create a floating-base dynamics model of the quadruped.

Definition in file Quadruped.h.

Function Documentation

template<typename T , typename T2 >

Vec3<T> withLegSigns	(	const Eigen::MatrixBase< T2 > &	v,
		int	legID
	)

Flip signs of elements of a vector V depending on which leg it belongs to

Definition at line 207 of file Quadruped.cpp.

                                                              {
  static_assert(T2::ColsAtCompileTime == 1 && T2::RowsAtCompileTime == 3,
                "Must have 3x1 matrix");
  switch (legID) {
    case 0:
      return Vec3<T>(v[0], -v[1], v[2]);
    case 1:
      return Vec3<T>(v[0], v[1], v[2]);
    case 2:
      return Vec3<T>(-v[0], -v[1], v[2]);
    case 3:
      return Vec3<T>(-v[0], v[1], v[2]);
    default:
      throw std::runtime_error("Invalid leg id!");
  }
}

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