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4 #include <pinocchio/fwd.hpp>
7 #include <pinocchio/algorithm/model.hpp>
8 #include <pinocchio/spatial/se3.hpp>
12 #include "pinocchio/multibody/data.hpp"
13 #include "pinocchio/multibody/model.hpp"
32 std::vector<unsigned long> controlled_joints_id_;
33 unsigned long leftFootId_, rightFootId_;
35 pinocchio::Model rModelComplete_, rModel_;
36 pinocchio::Data rDataComplete_, rData_;
39 Eigen::VectorXd q0Complete_, q0_;
40 Eigen::VectorXd v0Complete_, v0_;
43 Eigen::Vector3d com_position_;
44 Eigen::Vector3d LF_position_;
45 Eigen::Vector3d RF_position_;
66 const pinocchio::Data &
get_rData() {
return rData_; }
68 const Eigen::VectorXd &
get_q0() {
return q0_; }
69 const Eigen::VectorXd &
get_v0() {
return v0_; }
72 const Eigen::VectorXd &
get_x0() {
return x0_; }
76 const pinocchio::FrameIndex &
get_LF_id() {
return leftFootId_; }
77 const pinocchio::FrameIndex &
get_RF_id() {
return rightFootId_; }
80 return controlled_joints_id_;
89 #endif // SOBEC_DESIGNER
const Eigen::VectorXd & get_x0()
Definition: designer.hpp:72
std::string srdfPath
Definition: designer.hpp:20
double getRobotMass()
Definition: designer.cpp:136
const pinocchio::SE3 & get_LF_frame()
Definition: designer.cpp:128
bool initialized_
Definition: designer.hpp:54
const std::vector< unsigned long > & get_controlledJointsIDs()
Definition: designer.hpp:79
const pinocchio::Model & get_rModel()
Definition: designer.hpp:64
const Eigen::Vector3d & get_com_position()
Definition: designer.hpp:85
Definition: designer.hpp:17
std::string leftFootName
Definition: designer.hpp:24
const pinocchio::FrameIndex & get_RF_id()
Definition: designer.hpp:77
Definition: designer.hpp:28
std::string rightFootName
Definition: designer.hpp:25
void updateReducedModel(const Eigen::VectorXd &x)
Definition: designer.cpp:105
std::vector< std::string > controlledJointsNames
Definition: designer.hpp:22
const Eigen::Vector3d & get_LF_position()
Definition: designer.hpp:83
std::string urdfPath
Definition: designer.hpp:19
void updateCompleteModel(const Eigen::VectorXd &x)
Definition: designer.cpp:116
Definition: activation-quad-ref.hpp:19
const RobotDesignerSettings & get_settings()
Definition: designer.hpp:78
const pinocchio::Data & get_rDataComplete()
Definition: designer.hpp:67
const pinocchio::Model & get_rModelComplete()
Definition: designer.hpp:65
const pinocchio::Data & get_rData()
Definition: designer.hpp:66
const pinocchio::FrameIndex & get_LF_id()
Definition: designer.hpp:76
const std::string & get_LF_name()
Definition: designer.hpp:74
const Eigen::VectorXd & get_q0()
Definition: designer.hpp:68
std::string robotDescription
Definition: designer.hpp:21
const pinocchio::SE3 & get_RF_frame()
Definition: designer.cpp:132
const Eigen::VectorXd & get_v0()
Definition: designer.hpp:69
const Eigen::VectorXd & get_v0Complete()
Definition: designer.hpp:71
RobotDesigner()
Definition: designer.cpp:10
const Eigen::VectorXd & get_q0Complete()
Definition: designer.hpp:70
const std::string & get_RF_name()
Definition: designer.hpp:75
void initialize(const RobotDesignerSettings &settings)
Definition: designer.cpp:16
const Eigen::Vector3d & get_RF_position()
Definition: designer.hpp:84