quad_utils::QuadKD Class Reference

A lightweight library for quad kinematic functions. More...

#include <quad_kd.h>

Public Member Functions
	QuadKD ()
	Constructor for QuadKD Class.
	QuadKD (std::string ns)
	Constructor for QuadKD Class.
void	initModel (std::string ns)
	Initialize model for the class.
Eigen::Matrix4d	createAffineMatrix (Eigen::Vector3d trans, Eigen::Vector3d rpy) const
	Create an Eigen Eigen::Matrix4d containing a homogeneous transform from a specified translation and a roll, pitch, and yaw vector.
Eigen::Matrix4d	createAffineMatrix (Eigen::Vector3d trans, Eigen::AngleAxisd rot) const
	Create an Eigen Eigen::Matrix4d containing a homogeneous transform from a specified translation and an AngleAxis object.
void	transformBodyToWorld (Eigen::Vector3d body_pos, Eigen::Vector3d body_rpy, Eigen::Matrix4d transform_body, Eigen::Matrix4d &transform_world) const
	Transform a transformation matrix from the body frame to the world frame.
void	transformWorldToBody (Eigen::Vector3d body_pos, Eigen::Vector3d body_rpy, Eigen::Matrix4d transform_world, Eigen::Matrix4d &transform_body) const
	Transform a transformation matrix from the world frame to the body frame.
void	bodyToFootFKBodyFrame (int leg_index, Eigen::Vector3d joint_state, Eigen::Matrix4d &g_body_foot) const
	Compute forward kinematics for a specified leg from the body COM.
void	bodyToFootFKBodyFrame (int leg_index, Eigen::Vector3d joint_state, Eigen::Vector3d &foot_pos_body) const
	Compute forward kinematics for a specified leg from the body COM.
void	worldToFootFKWorldFrame (int leg_index, Eigen::Vector3d body_pos, Eigen::Vector3d body_rpy, Eigen::Vector3d joint_state, Eigen::Matrix4d &g_world_foot) const
	Compute forward kinematics for a specified leg.
void	worldToFootFKWorldFrame (int leg_index, Eigen::Vector3d body_pos, Eigen::Vector3d body_rpy, Eigen::Vector3d joint_state, Eigen::Vector3d &foot_pos_world) const
	Compute forward kinematics for a specified leg.
void	worldToKneeFKWorldFrame (int leg_index, Eigen::Vector3d body_pos, Eigen::Vector3d body_rpy, Eigen::Vector3d joint_state, Eigen::Matrix4d &g_world_knee) const
	Compute forward kinematics for a specified leg.
void	worldToKneeFKWorldFrame (int leg_index, Eigen::Vector3d body_pos, Eigen::Vector3d body_rpy, Eigen::Vector3d joint_state, Eigen::Vector3d &knee_pos_world) const
	Compute forward kinematics for a specified leg.
bool	worldToFootIKWorldFrame (int leg_index, Eigen::Vector3d body_pos, Eigen::Vector3d body_rpy, Eigen::Vector3d foot_pos_world, Eigen::Vector3d &joint_state) const
	Compute inverse kinematics for a specified leg.
bool	legbaseToFootIKLegbaseFrame (int leg_index, Eigen::Vector3d foot_pos_legbase, Eigen::Vector3d &joint_state) const
	Compute inverse kinematics for a specified leg in the leg base frame.
double	getJointLowerLimit (int leg_index, int joint_index) const
	Get the lower joint limit of a particular joint.
double	getJointUpperLimit (int leg_index, int joint_index) const
	Get the upper joint limit of a particular joint.
double	getLinkLength (int leg_index, int link_index) const
	Get the upper joint limit of a particular joint.
void	worldToLegbaseFKWorldFrame (int leg_index, Eigen::Vector3d body_pos, Eigen::Vector3d body_rpy, Eigen::Matrix4d &g_world_legbase) const
	Get the transform from the world frame to the leg base.
void	worldToLegbaseFKWorldFrame (int leg_index, Eigen::Vector3d body_pos, Eigen::Vector3d body_rpy, Eigen::Vector3d &leg_base_pos_world) const
	Get the position of the leg base frame origin in the world frame.
void	worldToNominalHipFKWorldFrame (int leg_index, Eigen::Vector3d body_pos, Eigen::Vector3d body_rpy, Eigen::Vector3d &nominal_hip_pos_world) const
	Get the position of the nominal hip location in the world frame.
void	getJacobianGenCoord (const Eigen::VectorXd &state, Eigen::MatrixXd &jacobian) const
	Compute Jacobian for generalized coordinates.
void	getJacobianBodyAngVel (const Eigen::VectorXd &state, Eigen::MatrixXd &jacobian) const
	Compute Jacobian for angular velocity in body frame.
void	getJacobianWorldAngVel (const Eigen::VectorXd &state, Eigen::MatrixXd &jacobian) const
	Compute Jacobian for angular velocity in world frame.
void	getRotationMatrix (const Eigen::VectorXd &rpy, Eigen::Matrix3d &rot) const
	Compute rotation matrix given roll pitch and yaw.
void	computeInverseDynamics (const Eigen::VectorXd &state_pos, const Eigen::VectorXd &state_vel, const Eigen::VectorXd &foot_acc, const Eigen::VectorXd &grf, const std::vector< int > &contact_mode, Eigen::VectorXd &tau) const
	Compute inverse dynamics for swing leg.
bool	convertCentroidalToFullBody (const Eigen::VectorXd &body_state, const Eigen::VectorXd &foot_positions, const Eigen::VectorXd &foot_velocities, const Eigen::VectorXd &grfs, Eigen::VectorXd &joint_positions, Eigen::VectorXd &joint_velocities, Eigen::VectorXd &torques)
	Convert centroidal model states (foot coordinates and grfs) to full body (joints and torques)
bool	applyMotorModel (const Eigen::VectorXd &torques, Eigen::VectorXd &constrained_torques)
	Apply a uniform maximum torque to a given set of joint torques.
bool	applyMotorModel (const Eigen::VectorXd &torques, const Eigen::VectorXd &joint_velocities, Eigen::VectorXd &constrained_torques)
	Apply a linear motor model to a given set of joint torques and velocities.
bool	isValidFullState (const Eigen::VectorXd &body_state, const Eigen::VectorXd &joint_state, const Eigen::VectorXd &torques, const grid_map::GridMap &terrain, Eigen::VectorXd &state_violation, Eigen::VectorXd &control_violation)
	Check if state is valid.
bool	isValidCentroidalState (const Eigen::VectorXd &body_state, const Eigen::VectorXd &foot_positions, const Eigen::VectorXd &foot_velocities, const Eigen::VectorXd &grfs, const grid_map::GridMap &terrain, Eigen::VectorXd &joint_positions, Eigen::VectorXd &joint_velocities, Eigen::VectorXd &torques, Eigen::VectorXd &state_violation, Eigen::VectorXd &control_violation)
	Check if state is valid.
double	getGroundClearance (const Eigen::Vector3d &point, const grid_map::GridMap &terrain)

Private Attributes
const int	num_feet_ = 4
	Number of feet.
std::vector< double >	l0_vec_
	Vector of the abad link lengths.
double	l1_
	Upper link length.
double	l2_
	Lower link length.
Eigen::Vector3d	abad_offset_
	Abad offset from legbase.
Eigen::Vector3d	knee_offset_
	Knee offset from hip.
Eigen::Vector3d	foot_offset_
	Foot offset from knee.
std::vector< Eigen::Vector3d >	legbase_offsets_
	Vector of legbase offsets.
std::vector< Eigen::Matrix4d >	g_body_legbases_
	Vector of legbase offsets.
const double	joint_eps = 0.1
	Epsilon offset for joint bounds.
std::vector< std::vector< double > >	joint_min_
	Vector of the joint lower limits.
std::vector< std::vector< double > >	joint_max_
	Vector of the joint upper limits.
RigidBodyDynamics::Model *	model_
std::vector< std::string >	body_name_list_
std::vector< unsigned int >	body_id_list_
std::vector< int >	leg_idx_list_
const double	abad_tau_max_ = 21
	Abad max joint torque.
const double	hip_tau_max_ = 21
	Hip max joint torque.
const double	knee_tau_max_ = 32
	Knee max joint torque.
const Eigen::VectorXd	tau_max_
	Vector of max torques.
const double	abad_vel_max_ = 37.7
	Abad max joint velocity.
const double	hip_vel_max_ = 37.7
	Hip max joint velocity.
const double	knee_vel_max_ = 25.1
	Knee max joint velocity.
const Eigen::VectorXd	vel_max_
	Vector of max velocities.
const Eigen::VectorXd	mm_slope_ = tau_max_.cwiseQuotient(vel_max_)

Detailed Description

A lightweight library for quad kinematic functions.

This library includes several functions and classes to aid in quad kinematic calculations. It relies on Eigen, as well as some MATLAB codegen for more complicated computations that would be a pain to write out by hand.

Constructor & Destructor Documentation

QuadKD() [1/2]

QuadKD::QuadKD

(

)

Constructor for QuadKD Class.

Returns

Constructed object of type QuadKD

QuadKD() [2/2]

QuadKD::QuadKD

(

std::string

ns

)

Constructor for QuadKD Class.

Parameters

[in]

ns

Namespace

Returns

Constructed object of type QuadKD

Member Function Documentation

applyMotorModel() [1/2]

bool QuadKD::applyMotorModel	(	const Eigen::VectorXd &	torques,
		const Eigen::VectorXd &	joint_velocities,
		Eigen::VectorXd &	constrained_torques
	)

Apply a linear motor model to a given set of joint torques and velocities.

Parameters

[in]	torques	Joint torques. in Nm
[in]	joint_velocities	Velocities of each joint. in rad/s
[in]	constrained_torques	Joint torques after applying motor model, in Nm

Returns

Boolean to indicate if initial torques is feasible (checks if torques == constrained_torques)

applyMotorModel() [2/2]

bool QuadKD::applyMotorModel	(	const Eigen::VectorXd &	torques,
		Eigen::VectorXd &	constrained_torques
	)

Apply a uniform maximum torque to a given set of joint torques.

Parameters

[in]	torques	Joint torques. in Nm
[in]	constrained_torques	Joint torques after applying max, in Nm

Returns

Boolean to indicate if initial torques is feasible (checks if torques == constrained_torques)

bodyToFootFKBodyFrame() [1/2]

void QuadKD::bodyToFootFKBodyFrame	(	int	leg_index,
		Eigen::Vector3d	joint_state,
		Eigen::Matrix4d &	g_body_foot
	)		const

Compute forward kinematics for a specified leg from the body COM.

Parameters

[in]	leg_index	Quad leg (0 = FL, 1 = BL, 2 = FR, 3 = BR)
[in]	joint_state	Joint states for the specified leg (abad, hip, knee)
[out]	g_body_foot	Transform of the specified foot in world frame

bodyToFootFKBodyFrame() [2/2]

void QuadKD::bodyToFootFKBodyFrame	(	int	leg_index,
		Eigen::Vector3d	joint_state,
		Eigen::Vector3d &	foot_pos_body
	)		const

Compute forward kinematics for a specified leg from the body COM.

Parameters

[in]	leg_index	Quad leg (0 = FL, 1 = BL, 2 = FR, 3 = BR)
[in]	joint_state	Joint states for the specified leg (abad, hip, knee)
[out]	foot_pos_world	Position of the specified foot in world frame

computeInverseDynamics()

void QuadKD::computeInverseDynamics	(	const Eigen::VectorXd &	state_pos,
		const Eigen::VectorXd &	state_vel,
		const Eigen::VectorXd &	foot_acc,
		const Eigen::VectorXd &	grf,
		const std::vector< int > &	contact_mode,
		Eigen::VectorXd &	tau
	)		const

Compute inverse dynamics for swing leg.

Parameters

[in]	state_pos	Position states
[in]	state_vel	Velocity states
[in]	foot_acc	Foot absolute acceleration in world frame
[in]	grf	Ground reaction force
[in]	contact_mode	Contact mode of the legs
[out]	tau	Joint torques

convertCentroidalToFullBody()

bool QuadKD::convertCentroidalToFullBody	(	const Eigen::VectorXd &	body_state,
		const Eigen::VectorXd &	foot_positions,
		const Eigen::VectorXd &	foot_velocities,
		const Eigen::VectorXd &	grfs,
		Eigen::VectorXd &	joint_positions,
		Eigen::VectorXd &	joint_velocities,
		Eigen::VectorXd &	torques
	)

Convert centroidal model states (foot coordinates and grfs) to full body (joints and torques)

Parameters

[in]	body_state	Position states
[in]	foot_positions	Foot positions in the world frame
[in]	foot_velocities	Foot velocities in the world frame
[in]	grfs	Ground reaction forces
[out]	joint_positions	Joint positions
[out]	joint_velocities	Joint velocities
[out]	tau	Joint torques

Returns

boolean for exactness of kinematics

createAffineMatrix() [1/2]

Eigen::Matrix4d QuadKD::createAffineMatrix	(	Eigen::Vector3d	trans,
		Eigen::AngleAxisd	rot
	)		const

Create an Eigen Eigen::Matrix4d containing a homogeneous transform from a specified translation and an AngleAxis object.

Parameters

[in]	trans	Translation from input frame to output frame
[in]	rot	Rotation from input frame to output frame as AngleAxis

Returns

Homogenous transformation matrix

createAffineMatrix() [2/2]

Eigen::Matrix4d QuadKD::createAffineMatrix	(	Eigen::Vector3d	trans,
		Eigen::Vector3d	rpy
	)		const

Create an Eigen Eigen::Matrix4d containing a homogeneous transform from a specified translation and a roll, pitch, and yaw vector.

Parameters

[in]	trans	Translation from input frame to output frame
[in]	rpy	Rotation from input frame to output frame as roll, pitch, yaw

Returns

Homogenous transformation matrix

getJacobianBodyAngVel()

void QuadKD::getJacobianBodyAngVel	(	const Eigen::VectorXd &	state,
		Eigen::MatrixXd &	jacobian
	)		const

Compute Jacobian for angular velocity in body frame.

Parameters

[in]	state	Joint and body states
[out]	jacobian	Jacobian for angular velocity in body frame

getJacobianGenCoord()

void QuadKD::getJacobianGenCoord	(	const Eigen::VectorXd &	state,
		Eigen::MatrixXd &	jacobian
	)		const

Compute Jacobian for generalized coordinates.

Parameters

[in]	state	Joint and body states
[out]	jacobian	Jacobian for generalized coordinates

getJacobianWorldAngVel()

void QuadKD::getJacobianWorldAngVel	(	const Eigen::VectorXd &	state,
		Eigen::MatrixXd &	jacobian
	)		const

Compute Jacobian for angular velocity in world frame.

Parameters

[in]	state	Joint and body states
[out]	jacobian	Jacobian for angular velocity in world frame

getJointLowerLimit()

double QuadKD::getJointLowerLimit	(	int	leg_index,
		int	joint_index
	)		const

Get the lower joint limit of a particular joint.

Parameters

[in]	leg_index	Quad leg (0 = FL, 1 = BL, 2 = FR, 3 = BR)
[in]	joint_index	Index for joint (0 = abad, 1 = hip, 2 = knee)

Returns

Requested joint limit

getJointUpperLimit()

double QuadKD::getJointUpperLimit	(	int	leg_index,
		int	joint_index
	)		const

Get the upper joint limit of a particular joint.

Parameters

[in]	leg_index	Quad leg (0 = FL, 1 = BL, 2 = FR, 3 = BR)
[in]	joint_index	Index for joint (0 = abad, 1 = hip, 2 = knee)

Returns

Requested joint limit

getLinkLength()

double QuadKD::getLinkLength	(	int	leg_index,
		int	link_index
	)		const

Get the upper joint limit of a particular joint.

Parameters

[in]	leg_index	Quad leg (0 = FL, 1 = BL, 2 = FR, 3 = BR)
[in]	link_index	Index for link (0 = abad, 1 = upper, 2 = lower)

Returns

Requested link length

getRotationMatrix()

void QuadKD::getRotationMatrix	(	const Eigen::VectorXd &	rpy,
		Eigen::Matrix3d &	rot
	)		const

Compute rotation matrix given roll pitch and yaw.

Parameters

[in]	rpy	Roll pitch and yaw
[out]	rot	Rotation matrix

initModel()

void QuadKD::initModel

(

std::string

ns

)

Initialize model for the class.

Parameters

[in]

ns

Namespace

isValidCentroidalState()

bool QuadKD::isValidCentroidalState	(	const Eigen::VectorXd &	body_state,
		const Eigen::VectorXd &	foot_positions,
		const Eigen::VectorXd &	foot_velocities,
		const Eigen::VectorXd &	grfs,
		const grid_map::GridMap &	terrain,
		Eigen::VectorXd &	joint_positions,
		Eigen::VectorXd &	joint_velocities,
		Eigen::VectorXd &	torques,
		Eigen::VectorXd &	state_violation,
		Eigen::VectorXd &	control_violation
	)

Check if state is valid.

Parameters

[in]	body_state	Robot body positions and velocities
[in]	foot_positions	Foot positions
[in]	foot_velocities	Foot velocities
[in]	grfs	Ground reaction forces in the world frame
[in]	terrain	Map of the terrain for collision checking

Returns

Boolean for state validity

isValidFullState()

bool QuadKD::isValidFullState	(	const Eigen::VectorXd &	body_state,
		const Eigen::VectorXd &	joint_state,
		const Eigen::VectorXd &	torques,
		const grid_map::GridMap &	terrain,
		Eigen::VectorXd &	state_violation,
		Eigen::VectorXd &	control_violation
	)

Check if state is valid.

Parameters

[in]	body_state	Robot body positions and velocities
[in]	joint_state	Joint positions and velocities
[in]	torques	Joint torques
[in]	terrain	Map of the terrain for collision checking

Returns

Boolean for state validity

legbaseToFootIKLegbaseFrame()

bool QuadKD::legbaseToFootIKLegbaseFrame	(	int	leg_index,
		Eigen::Vector3d	foot_pos_legbase,
		Eigen::Vector3d &	joint_state
	)		const

Compute inverse kinematics for a specified leg in the leg base frame.

Parameters

[in]	leg_index	Quad leg (0 = FL, 1 = BL, 2 = FR, 3 = BR)
[in]	foot_pos_legbase	Position of the specified foot in leg base frame
[out]	joint_state	Joint states for the specified leg (abad, hip, knee)

transformBodyToWorld()

void QuadKD::transformBodyToWorld	(	Eigen::Vector3d	body_pos,
		Eigen::Vector3d	body_rpy,
		Eigen::Matrix4d	transform_body,
		Eigen::Matrix4d &	transform_world
	)		const

Transform a transformation matrix from the body frame to the world frame.

Parameters

[in]	body_pos	Position of center of body frame
[in]	body_rpy	Orientation of body frame in roll, pitch, yaw
[in]	transform_body	Specified transform in the body frame
[out]	transform_world	Specified transform in the world frame

transformWorldToBody()

void QuadKD::transformWorldToBody	(	Eigen::Vector3d	body_pos,
		Eigen::Vector3d	body_rpy,
		Eigen::Matrix4d	transform_world,
		Eigen::Matrix4d &	transform_body
	)		const

Transform a transformation matrix from the world frame to the body frame.

Parameters

[in]	body_pos	Position of center of body frame
[in]	body_rpy	Orientation of body frame in roll, pitch, yaw
[in]	transform_world	Specified transform in the world frame
[out]	transform_body	Specified transform in the body frame

worldToFootFKWorldFrame() [1/2]

void QuadKD::worldToFootFKWorldFrame	(	int	leg_index,
		Eigen::Vector3d	body_pos,
		Eigen::Vector3d	body_rpy,
		Eigen::Vector3d	joint_state,
		Eigen::Matrix4d &	g_world_foot
	)		const

Compute forward kinematics for a specified leg.

Parameters

[in]	leg_index	Quad leg (0 = FL, 1 = BL, 2 = FR, 3 = BR)
[in]	body_pos	Position of center of body frame
[in]	body_rpy	Orientation of body frame in roll, pitch, yaw
[in]	joint_state	Joint states for the specified leg (abad, hip, knee)
[out]	g_world_foot	Transform of the specified foot in world frame

worldToFootFKWorldFrame() [2/2]

void QuadKD::worldToFootFKWorldFrame	(	int	leg_index,
		Eigen::Vector3d	body_pos,
		Eigen::Vector3d	body_rpy,
		Eigen::Vector3d	joint_state,
		Eigen::Vector3d &	foot_pos_world
	)		const

Compute forward kinematics for a specified leg.

Parameters

[in]	leg_index	Quad leg (0 = FL, 1 = BL, 2 = FR, 3 = BR)
[in]	body_pos	Position of center of body frame
[in]	body_rpy	Orientation of body frame in roll, pitch, yaw
[in]	joint_state	Joint states for the specified leg (abad, hip, knee)
[out]	foot_pos_world	Position of the specified foot in world frame

worldToFootIKWorldFrame()

bool QuadKD::worldToFootIKWorldFrame	(	int	leg_index,
		Eigen::Vector3d	body_pos,
		Eigen::Vector3d	body_rpy,
		Eigen::Vector3d	foot_pos_world,
		Eigen::Vector3d &	joint_state
	)		const

Compute inverse kinematics for a specified leg.

Parameters

[in]	leg_index	Quad leg (0 = FL, 1 = BL, 2 = FR, 3 = BR)
[in]	body_pos	Position of center of body frame
[in]	body_rpy	Orientation of body frame in roll, pitch, yaw
[in]	foot_pos_world	Position of the specified foot in world frame
[out]	joint_state	Joint states for the specified leg (abad, hip, knee)

worldToKneeFKWorldFrame() [1/2]

void QuadKD::worldToKneeFKWorldFrame	(	int	leg_index,
		Eigen::Vector3d	body_pos,
		Eigen::Vector3d	body_rpy,
		Eigen::Vector3d	joint_state,
		Eigen::Matrix4d &	g_world_knee
	)		const

Compute forward kinematics for a specified leg.

Parameters

[in]	leg_index	Spirit leg (0 = FL, 1 = BL, 2 = FR, 3 = BR)
[in]	body_pos	Position of center of body frame
[in]	body_rpy	Orientation of body frame in roll, pitch, yaw
[in]	joint_state	Joint states for the specified leg (abad, hip, knee)
[out]	g_world_knee	Transform of the specified knee in world frame

worldToKneeFKWorldFrame() [2/2]

void QuadKD::worldToKneeFKWorldFrame	(	int	leg_index,
		Eigen::Vector3d	body_pos,
		Eigen::Vector3d	body_rpy,
		Eigen::Vector3d	joint_state,
		Eigen::Vector3d &	knee_pos_world
	)		const

Compute forward kinematics for a specified leg.

Parameters

[in]	leg_index	Spirit leg (0 = FL, 1 = BL, 2 = FR, 3 = BR)
[in]	body_pos	Position of center of body frame
[in]	body_rpy	Orientation of body frame in roll, pitch, yaw
[in]	joint_state	Joint states for the specified leg (abad, hip, knee)
[out]	knee_pos_world	Position of the specified knee in world frame

worldToLegbaseFKWorldFrame() [1/2]

void QuadKD::worldToLegbaseFKWorldFrame	(	int	leg_index,
		Eigen::Vector3d	body_pos,
		Eigen::Vector3d	body_rpy,
		Eigen::Matrix4d &	g_world_legbase
	)		const

Get the transform from the world frame to the leg base.

Parameters

[in]	leg_index	Quad leg (0 = FL, 1 = BL, 2 = FR, 3 = BR)
[in]	body_pos	Position of center of body frame
[in]	body_rpy	Orientation of body frame in roll, pitch, yaw
[out]	g_world_legbase	Transformation matrix of world to leg base

worldToLegbaseFKWorldFrame() [2/2]

void QuadKD::worldToLegbaseFKWorldFrame	(	int	leg_index,
		Eigen::Vector3d	body_pos,
		Eigen::Vector3d	body_rpy,
		Eigen::Vector3d &	leg_base_pos_world
	)		const

Get the position of the leg base frame origin in the world frame.

Parameters

[in]	leg_index	Quad leg (0 = FL, 1 = BL, 2 = FR, 3 = BR)
[in]	body_pos	Position of center of body frame
[in]	body_rpy	Orientation of body frame in roll, pitch, yaw
[out]	leg_base_pos_world	Origin of leg base frame in world frame

worldToNominalHipFKWorldFrame()

void QuadKD::worldToNominalHipFKWorldFrame	(	int	leg_index,
		Eigen::Vector3d	body_pos,
		Eigen::Vector3d	body_rpy,
		Eigen::Vector3d &	nominal_hip_pos_world
	)		const

Get the position of the nominal hip location in the world frame.

Parameters

[in]	leg_index	Quad leg (0 = FL, 1 = BL, 2 = FR, 3 = BR)
[in]	body_pos	Position of center of body frame
[in]	body_rpy	Orientation of body frame in roll, pitch, yaw
[out]	nominal_hip_pos_world	Location of nominal hip in world frame

Member Data Documentation

tau_max_

const Eigen::VectorXd quad_utils::QuadKD::tau_max_

private

Initial value:

=
      (Eigen::VectorXd(12) << abad_tau_max_, hip_tau_max_, knee_tau_max_,
       abad_tau_max_, hip_tau_max_, knee_tau_max_, abad_tau_max_, hip_tau_max_,
       knee_tau_max_, abad_tau_max_, hip_tau_max_, knee_tau_max_)
          .finished()

Vector of max torques.

vel_max_

const Eigen::VectorXd quad_utils::QuadKD::vel_max_

private

Initial value:

=
      (Eigen::VectorXd(12) << abad_vel_max_, hip_vel_max_, knee_vel_max_,
       abad_vel_max_, hip_vel_max_, knee_vel_max_, abad_vel_max_, hip_vel_max_,
       knee_vel_max_, abad_vel_max_, hip_vel_max_, knee_vel_max_)
          .finished()

Vector of max velocities.

---

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

• quad_utils/include/quad_utils/quad_kd.h
• quad_utils/src/quad_kd.cpp