Quadruped.cpp File Reference

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

#include "Dynamics/Quadruped.h"
#include "Dynamics/spatial.h"
#include "Math/orientation_tools.h"

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

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.cpp.

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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