robot_model_info.hpp

Go to the documentation of this file.

#ifndef ROBOTOC_ROBOT_MODEL_INFO_HPP_
#define ROBOTOC_ROBOT_MODEL_INFO_HPP_
 
#include <string>
#include <vector>
 
#include "robotoc/robot/contact_model_info.hpp"
 
namespace robotoc {
 
enum class BaseJointType {
  FixedBase,
  FloatingBase
};
 
struct RobotModelInfo {
  RobotModelInfo(const std::string& urdf_path, 
                 const BaseJointType base_joint_type,
                 const std::vector<ContactModelInfo>& point_contacts,
                 const std::vector<ContactModelInfo>& surface_contacts,
                 const double contact_inv_damping=0.0);
 
  RobotModelInfo() = default;
 
  ~RobotModelInfo() = default;
 
  RobotModelInfo(const RobotModelInfo&) = default;
 
  RobotModelInfo& operator=(const RobotModelInfo&) = default;
 
  RobotModelInfo(RobotModelInfo&&) noexcept = default;
 
  RobotModelInfo& operator=(RobotModelInfo&&) noexcept = default;
 
  std::string urdf_path;
 
  BaseJointType base_joint_type = BaseJointType::FixedBase;
 
  std::vector<ContactModelInfo> point_contacts;
 
  std::vector<ContactModelInfo> surface_contacts;
 
  double contact_inv_damping = 0.0;
 
  static RobotModelInfo Manipulator(const std::string& urdf_path);
 
  static RobotModelInfo Quadruped(
      const std::string& urdf_path, 
      const std::vector<ContactModelInfo>& point_contacts);
 
  static RobotModelInfo Humanoid(
      const std::string& urdf_path, 
      const std::vector<ContactModelInfo>& surface_contacts);
 
};
 
} // namespace robotoc
 
#endif // ROBOTOC_ROBOT_MODEL_INFO_HPP_