rm_chassis_controllers::VMC Class Reference

#include <VMC.h>

Inheritance diagram for rm_chassis_controllers::VMC:

Collaboration diagram for rm_chassis_controllers::VMC:

Public Member Functions
virtual	~VMC ()=default
virtual void	leg_pos (double phi1, double phi4)=0
virtual void	calc_jacobian (double phi1, double phi4)=0
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

Protected Member Functions
	VMC (double l1, double l2, double l3, double l4, double l5)
void	clearJacobian ()

Protected Attributes
double	J_ [2][2] {}
LegPos	pos_
const double	l1_
const double	l2_
const double	l3_
const double	l4_
const double	l5_

Constructor & Destructor Documentation

~VMC()

virtual rm_chassis_controllers::VMC::~VMC ( )

virtualdefault

VMC()

rm_chassis_controllers::VMC::VMC ( double l1, double l2, double l3, double l4, double l5 )

protected

Member Function Documentation

calc_jacobian()

virtual void rm_chassis_controllers::VMC::calc_jacobian ( double phi1, double phi4 )

pure virtual

Implemented in rm_chassis_controllers::FiveLinkVMC, and rm_chassis_controllers::TwoLinkVMC.

clearJacobian()

void rm_chassis_controllers::VMC::clearJacobian ( )

protected

getForceReal()

const LegForce & rm_chassis_controllers::VMC::getForceReal

(

)

const

getL1()

double rm_chassis_controllers::VMC::getL1

(

)

const

getL2()

double rm_chassis_controllers::VMC::getL2

(

)

const

getL3()

double rm_chassis_controllers::VMC::getL3

(

)

const

getL4()

double rm_chassis_controllers::VMC::getL4

(

)

const

getL5()

double rm_chassis_controllers::VMC::getL5

(

)

const

getPos()

const LegPos & rm_chassis_controllers::VMC::getPos

(

)

const

getSpd()

const LegSpd & rm_chassis_controllers::VMC::getSpd

(

)

const

leg_conv()

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

leg_conv_t()

void rm_chassis_controllers::VMC::leg_conv_t	(	double	T1,
		double	T2 )

leg_pos()

virtual void rm_chassis_controllers::VMC::leg_pos ( double phi1, double phi4 )

pure virtual

Implemented in rm_chassis_controllers::FiveLinkVMC, and rm_chassis_controllers::TwoLinkVMC.

leg_spd()

void rm_chassis_controllers::VMC::leg_spd	(	double	dphi1,
		double	dphi4 )

Member Data Documentation

J_

double rm_chassis_controllers::VMC::J_[2][2] {}

protected

l1_

const double rm_chassis_controllers::VMC::l1_

protected

l2_

const double rm_chassis_controllers::VMC::l2_

protected

l3_

const double rm_chassis_controllers::VMC::l3_

protected

l4_

const double rm_chassis_controllers::VMC::l4_

protected

l5_

const double rm_chassis_controllers::VMC::l5_

protected

pos_

LegPos rm_chassis_controllers::VMC::pos_

protected

---

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

• rm_chassis_controllers/include/rm_chassis_controllers/bipedal_wheel_controller/vmc/VMC.h
• rm_chassis_controllers/src/bipedal_wheel_controller/vmc/VMC.cpp