helper_functions.h File Reference

#include <angles/angles.h>
#include <cstddef>
#include <memory>
#include <vector>
#include <Eigen/Dense>
#include <control_toolbox/pid.h>
#include <geometry_msgs/Quaternion.h>
#include <hardware_interface/joint_command_interface.h>
#include "bipedal_wheel_controller/dynamics/gen_A.h"
#include "bipedal_wheel_controller/dynamics/gen_B.h"
#include "bipedal_wheel_controller/definitions.h"

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Namespaces
namespace	rm_chassis_controllers

Functions
void	rm_chassis_controllers::generateAB (const std::shared_ptr< ModelParams > &model_params, Eigen::Matrix< double, STATE_DIM, STATE_DIM > &a, Eigen::Matrix< double, STATE_DIM, CONTROL_DIM > &b, double leg_length)
void	rm_chassis_controllers::setJointCommands (std::vector< hardware_interface::JointHandle * > &joints, const LegCommand &left_cmd, const LegCommand &right_cmd, double wheel_left=0., double wheel_right=0.)
void	rm_chassis_controllers::quatToRPY (const geometry_msgs::Quaternion &q, double &roll, double &pitch, double &yaw)
void	rm_chassis_controllers::clamp (double &val, const double &minVal, const double &maxVal)