ocra-wbi-plugins/ocra-icub/src/OcraWbiModel.cpp File Reference

Implementation of ocra::Model using wholeBodyInterface. More...

#include <ocra-icub/OcraWbiModel.h>

Include dependency graph for OcraWbiModel.cpp:

Classes
struct	ocra_icub::OcraWbiModel::OcraWbiModel_pimpl
Defines
#define	ALL_JOINTS   -1
#define	FREE_ROOT_DOF   6
#define	COM_POS_DIM   3
#define	TRANS_ROT_DIM   6
#define	GRAVITY_CONSTANT   -9.81
Typedefs
typedef Eigen::Displacementd::AdjointMatrix	AdjointMatrix
Variables
const double	g_vector [3] = {0, 0, GRAVITY_CONSTANT}

---

Detailed Description

Implementation of ocra::Model using wholeBodyInterface.

Author:

[Ryan Lober](http://www.ryanlober.com)

[Antoine Hoarau](http://ahoarau.github.io)

Date:

Feb 2016

Copyright:

GNU General Public License.

---

Define Documentation

#define ALL_JOINTS   -1

#define COM_POS_DIM   3

#define FREE_ROOT_DOF   6

#define GRAVITY_CONSTANT   -9.81

#define TRANS_ROT_DIM   6

---

Typedef Documentation

typedef Eigen::Displacementd::AdjointMatrix AdjointMatrix

---

Variable Documentation

const double g_vector[3] = {0, 0, GRAVITY_CONSTANT}