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