configuration.hpp
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1 #ifndef __PREVIEW_IK_CONFIGURATION___
2 #define __PREVIEW_IK_CONFIGURATION___
3 #include <iostream>
4 
5 // clang-format off
6 #include "pinocchio/fwd.hpp"
7 #include "example-robot-data/path.hpp"
8 // clang-format on
9 
10 namespace conf {
11 const std::string path_to_robots(EXAMPLE_ROBOT_DATA_MODEL_DIR);
12 const std::string urdf_path =
13  path_to_robots + "/talos_data/robots/talos_reduced_corrected.urdf";
14 const std::string srdf_path = path_to_robots + "/talos_data/srdf/talos.srdf";
15 
16 const std::string leftHipJointName = "leg_left_1_joint";
17 const std::string rightHipJointName = "leg_right_1_joint";
18 const std::string leftKneeJointName = "leg_left_4_joint";
19 const std::string rightKneeJointName = "leg_right_4_joint";
20 const std::string leftAnkleJointName = "leg_left_5_joint";
21 const std::string rightAnkleJointName = "leg_right_5_joint";
22 const std::string leftFootFrameName = "leg_left_sole_fix_joint";
23 const std::string rightFootFrameName = "leg_right_sole_fix_joint";
24 
25 } // namespace conf
26 
27 #endif // __PREVIEW_IK_CONFIGURATION
const std::string path_to_robots(EXAMPLE_ROBOT_DATA_MODEL_DIR)
const std::string urdf_path
Definition: configuration.hpp:12
const std::string rightHipJointName
Definition: configuration.hpp:17
const std::string srdf_path
Definition: configuration.hpp:14
Definition: configuration.hpp:10
const std::string rightAnkleJointName
Definition: configuration.hpp:21
const std::string leftAnkleJointName
Definition: configuration.hpp:20
const std::string rightFootFrameName
Definition: configuration.hpp:23
const std::string leftHipJointName
Definition: configuration.hpp:16
const std::string rightKneeJointName
Definition: configuration.hpp:19
const std::string leftKneeJointName
Definition: configuration.hpp:18
const std::string leftFootFrameName
Definition: configuration.hpp:22