RobotModelHyrodyn.hpp

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#ifndef ROBOTMODELHYRODYN_HPP
#define ROBOTMODELHYRODYN_HPP
 
#include "../../core/RobotModel.hpp"
 
#include <hyrodyn/robot_model_hyrodyn.hpp>
#include <base/commands/Joints.hpp>
 
namespace wbc{
 
class RobotModelHyrodyn : public RobotModel{
private:
    static RobotModelRegistry<RobotModelHyrodyn> reg;
 
protected:
    hyrodyn::RobotModel_HyRoDyn hyrodyn;
 
    void clear();
public:
    RobotModelHyrodyn();
    virtual ~RobotModelHyrodyn();

    virtual bool configure(const RobotModelConfig& cfg);

    virtual void update(const base::samples::Joints& joint_state,
                        const base::samples::RigidBodyStateSE3& floating_base_state = base::samples::RigidBodyStateSE3());

    virtual void systemState(base::VectorXd &q, base::VectorXd &qd, base::VectorXd &qdd);

    virtual const base::samples::RigidBodyStateSE3 &rigidBodyState(const std::string &root_frame, const std::string &tip_frame);

    virtual const base::MatrixXd &spaceJacobian(const std::string &root_frame, const std::string &tip_frame);

    virtual const base::MatrixXd &bodyJacobian(const std::string &root_frame, const std::string &tip_frame);

    virtual const base::MatrixXd &comJacobian();

    virtual const base::MatrixXd &jacobianDot(const std::string &root_frame, const std::string &tip_frame);

    virtual const base::Acceleration &spatialAccelerationBias(const std::string &root_frame, const std::string &tip_frame);

    virtual const base::MatrixXd &jointSpaceInertiaMatrix();

    virtual const base::VectorXd &biasForces();

    virtual const base::samples::RigidBodyStateSE3& centerOfMass();

    hyrodyn::RobotModel_HyRoDyn *hyrodynHandle(){return &hyrodyn;}

    virtual void computeInverseDynamics(base::commands::Joints &solver_output);
};
 
}
 
#endif