robot_model_rbdl.hpp

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#ifndef WBC_PY_ROBOT_MODEL_RBDL_HPP
#define WBC_PY_ROBOT_MODEL_RBDL_HPP
 
#include <wbc/robot_models/rbdl/RobotModelRBDL.hpp>
#include "../../wbc_types_conversions.h"
 
namespace wbc_py {
 
class RobotModelRBDL : public wbc::RobotModelRBDL{
public:
    bool configure(const wbc_py::RobotModelConfig &cfg);
    void update(const base::NamedVector<base::JointState> &joint_state);
    void update2(const base::NamedVector<base::JointState> &joint_state, const base::samples::RigidBodyStateSE3 &floating_base_state);
    base::NamedVector<base::JointState> jointState2(const std::vector<std::string> &names);
    void setActiveContacts(const base::NamedVector<wbc::ActiveContact> & active_contacts);
    base::NamedVector<wbc::ActiveContact> getActiveContacts2();
    base::NamedVector<base::JointLimitRange> jointLimits2();
    wbc_py::RobotModelConfig getRobotModelConfig();
};
 
}
 
#endif