#include <TwoLinkVMC.h>

Inheritance diagram for rm_chassis_controllers::TwoLinkVMC:

Collaboration diagram for rm_chassis_controllers::TwoLinkVMC:

[legend]

Public Member Functions
	TwoLinkVMC (double l1, double l2)

void	leg_pos (double phi1, double phi4) override

void	calc_jacobian (double phi1, double phi4) override

Public Member Functions inherited from rm_chassis_controllers::VMC
virtual	~VMC ()=default

void	leg_spd (double dphi1, double dphi4)

void	leg_conv (double F, double Tp, double T[2]) const

void	leg_conv_t (double T1, double T2)

double	getL1 () const

double	getL2 () const

double	getL3 () const

double	getL4 () const

double	getL5 () const

const LegPos &	getPos () const

const LegSpd &	getSpd () const

const LegForce &	getForceReal () const

Additional Inherited Members
Protected Member Functions inherited from rm_chassis_controllers::VMC
	VMC (double l1, double l2, double l3, double l4, double l5)

void	clearJacobian ()

Protected Attributes inherited from rm_chassis_controllers::VMC
double	J_ [2][2] {}

LegPos	pos_

const double	l1_

const double	l2_

const double	l3_

const double	l4_

const double	l5_

Constructor & Destructor Documentation

◆ TwoLinkVMC()

rm_chassis_controllers::TwoLinkVMC::TwoLinkVMC	(	double	l1,
		double	l2 )

void rm_chassis_controllers::TwoLinkVMC::calc_jacobian	(	double	phi1,
		double	phi4 )

overridevirtual

void rm_chassis_controllers::TwoLinkVMC::leg_pos	(	double	phi1,
		double	phi4 )

overridevirtual

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

rm_chassis_controllers/include/rm_chassis_controllers/bipedal_wheel_controller/vmc/TwoLinkVMC.h
rm_chassis_controllers/src/bipedal_wheel_controller/vmc/TwoLinkVMC.cpp