robotoc::RobotModelInfo Class Reference

Info of a robot model. More...

#include <robot_model_info.hpp>

Public Member Functions
	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)
	Construct a robot model info. More...
	RobotModelInfo ()=default
	Default constructor. More...
	~RobotModelInfo ()=default
	Default destructor. More...
	RobotModelInfo (const RobotModelInfo &)=default
	Default copy constructor. More...
RobotModelInfo &	operator= (const RobotModelInfo &)=default
	Default copy assign operator. More...
	RobotModelInfo (RobotModelInfo &&) noexcept=default
	Default move constructor. More...
RobotModelInfo &	operator= (RobotModelInfo &&) noexcept=default
	Default move assign operator. More...

Static Public Member Functions
static RobotModelInfo	Manipulator (const std::string &urdf_path)
	Creates a simple robot manipulator model info. More...
static RobotModelInfo	Quadruped (const std::string &urdf_path, const std::vector< ContactModelInfo > &point_contacts)
	Creates a simple quadrped robot model info. More...
static RobotModelInfo	Humanoid (const std::string &urdf_path, const std::vector< ContactModelInfo > &surface_contacts)
	Creates a simple humanoid robot model info. More...

Public Attributes
std::string	urdf_path
	Path to the URDF file. More...
BaseJointType	base_joint_type = BaseJointType::FixedBase
	Type of the base joint. Default is BaseJointType::FixedBase. More...
std::vector< ContactModelInfo >	point_contacts
	Info of point contacts. More...
std::vector< ContactModelInfo >	surface_contacts
	Info of surface contacts. More...
double	contact_inv_damping = 0.0
	Damping paramter in matrix inversion of the contact-consistent forward dynamics. 1e-12 works well for two surface contacts. Must be non-negative. Default is 0. More...

Detailed Description

Info of a robot model.

Constructor & Destructor Documentation

RobotModelInfo() [1/4]

robotoc::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
	)

Construct a robot model info.

Parameters

[in]	urdf_path	Path to the URDF file.
[in]	base_joint_type	Type of the base joint.
[in]	point_contacts	Info of point contacts.
[in]	surface_contacts	Info of surface contacts.
[in]	contact_inv_damping	Damping paramter in matrix inversion of the contact-consistent forward dynamics. Default is 0.0.

RobotModelInfo() [2/4]

robotoc::RobotModelInfo::RobotModelInfo ( )

default

Default constructor.

~RobotModelInfo()

robotoc::RobotModelInfo::~RobotModelInfo ( )

default

Default destructor.

RobotModelInfo() [3/4]

robotoc::RobotModelInfo::RobotModelInfo ( const RobotModelInfo &  )

default

Default copy constructor.

RobotModelInfo() [4/4]

robotoc::RobotModelInfo::RobotModelInfo ( RobotModelInfo &&  )

defaultnoexcept

Default move constructor.

Member Function Documentation

Humanoid()

static RobotModelInfo robotoc::RobotModelInfo::Humanoid ( const std::string &  urdf_path, const std::vector< ContactModelInfo > &  surface_contacts  )

static

Creates a simple humanoid robot model info.

Parameters

[in]	urdf_path	Path to the URDF file.
[in]	surface_contacts	Info of surface contacts.

Manipulator()

static RobotModelInfo robotoc::RobotModelInfo::Manipulator ( const std::string &  urdf_path )

static

Creates a simple robot manipulator model info.

Parameters

[in]

urdf_path

Path to the URDF file.

operator=() [1/2]

RobotModelInfo & robotoc::RobotModelInfo::operator= ( const RobotModelInfo &  )

default

Default copy assign operator.

operator=() [2/2]

RobotModelInfo & robotoc::RobotModelInfo::operator= ( RobotModelInfo &&  )

defaultnoexcept

Default move assign operator.

Quadruped()

static RobotModelInfo robotoc::RobotModelInfo::Quadruped ( const std::string &  urdf_path, const std::vector< ContactModelInfo > &  point_contacts  )

static

Creates a simple quadrped robot model info.

Parameters

[in]	urdf_path	Path to the URDF file.
[in]	point_contacts	Info of point contacts.

Member Data Documentation

base_joint_type

BaseJointType robotoc::RobotModelInfo::base_joint_type = BaseJointType::FixedBase

Type of the base joint. Default is BaseJointType::FixedBase.

contact_inv_damping

double robotoc::RobotModelInfo::contact_inv_damping = 0.0

Damping paramter in matrix inversion of the contact-consistent forward dynamics. 1e-12 works well for two surface contacts. Must be non-negative. Default is 0.

point_contacts

std::vector<ContactModelInfo> robotoc::RobotModelInfo::point_contacts

Info of point contacts.

surface_contacts

std::vector<ContactModelInfo> robotoc::RobotModelInfo::surface_contacts

Info of surface contacts.

urdf_path

std::string robotoc::RobotModelInfo::urdf_path

Path to the URDF file.

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The documentation for this class was generated from the following file:

• /github/workspace/include/robotoc/robot/robot_model_info.hpp