30 #include <privatepgtypes.hh> 61 Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>
U;
70 Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>
S;
95 std::deque<ZMPPosition> &ZMPRefPositions,
int CurrentPosition,
96 double CX,
double CY);
130 inline double const &
Mass()
const {
return Mass_; }
133 inline std::deque<rigid_body_state_t> &
Trajectory() {
return Trajectory_; }
151 std::deque<rigid_body_state_t> Trajectory_;
156 JerkDynamics_, CoPDynamics_;
Eigen::MatrixXd UT
Transpose of control matrix.
Definition: rigid-body.hh:67
void reset()
Definition: rigid-body.cpp:139
rigid_body_state_s()
Definition: rigid-body.cpp:122
rigid_body_state_t const & State() const
Definition: rigid-body.hh:136
void clear()
Definition: rigid-body.hh:74
Eigen::VectorXd Pitch
Definition: rigid-body.hh:44
Definition: rigid-body.hh:59
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > U
Control matrix.
Definition: rigid-body.hh:61
Eigen::VectorXd Z
Definition: rigid-body.hh:40
void SamplingPeriodAct(double Ta)
Definition: rigid-body.hh:125
rigid_body_state_t & State()
Definition: rigid-body.hh:135
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > S
State matrix.
Definition: rigid-body.hh:70
struct rigid_body_state_s & operator=(const rigid_body_state_s &RB)
Definition: rigid-body.cpp:125
int initialize()
Initialize.
Definition: rigid-body.cpp:40
State vectors.
Definition: rigid-body.hh:35
int inject_trajectory(unsigned int Axis, Eigen::VectorXd Trajectory)
Decouple degree of freedom by injected trajectory.
std::deque< rigid_body_state_t > & Trajectory()
Definition: rigid-body.hh:133
linear_dynamics_t const & Dynamics(dynamics_e) const
Definition: rigid-body.cpp:79
linear_dynamics_s linear_dynamics_t
Definition: rigid-body.hh:80
void SamplingPeriodSim(double T)
Definition: rigid-body.hh:122
~RigidBody()
Definition: rigid-body.cpp:38
int interpolate(std::deque< COMState > &COMStates, std::deque< ZMPPosition > &ZMPRefPositions, int CurrentPosition, double CX, double CY)
Interpolate.
Definition: rigid-body.hh:83
Eigen::VectorXd Roll
Definition: rigid-body.hh:45
Eigen::VectorXd Y
Definition: rigid-body.hh:39
Eigen::MatrixXd Um1
Inverse of control matrix.
Definition: rigid-body.hh:64
double const & SamplingPeriodAct() const
Definition: rigid-body.hh:124
unsigned const & NbSamplingsPreviewed() const
Definition: rigid-body.hh:127
void Mass(double Mass)
Definition: rigid-body.hh:131
double const & SamplingPeriodSim() const
Definition: rigid-body.hh:121
void NbSamplingsPreviewed(unsigned N)
Definition: rigid-body.hh:128
double const & Mass() const
Definition: rigid-body.hh:130
Eigen::VectorXd Yaw
Definition: rigid-body.hh:46
dynamics_e Type
Definition: rigid-body.hh:72
RigidBody()
Definition: rigid-body.cpp:30
Simulate a rigid body
Definition: patterngeneratorinterface.hh:41
Eigen::VectorXd X
Definition: rigid-body.hh:38
rigid_body_state_t increment_state(double Control)
Increment the state.