rb::y1_model::A Class Reference

Represents the model description of Robot A. More...

#include <model.h>

Public Types
using	DynRobotStateType = rb::dyn::State<kRobotDOF>
	Type definition for the dynamic robot state.
using	DynRobotType = rb::dyn::Robot<kRobotDOF>
	Type definition for the dynamic robot.

Static Public Attributes
static constexpr std::array< unsigned int, 20 >	kBodyIdx
	Indices for the main body components.
static constexpr double	kControlPeriod = 0.002
	Control update period in seconds.
static constexpr std::array< unsigned int, 2 >	kHeadIdx = {22, 23}
	Indices for the head components.
static constexpr std::array< unsigned int, 7 >	kLeftArmIdx = {15, 16, 17, 18, 19, 20, 21}
	Indices for the left arm components.
static constexpr std::array< unsigned int, 2 >	kMobilityIdx = {0, 1}
	Indices for the mobility components (e.g., wheels).
static constexpr std::string_view	kModelName = "A"
	The model name.
static constexpr std::array< unsigned int, 7 >	kRightArmIdx = {8, 9, 10, 11, 12, 13, 14}
	Indices for the right arm components.
static constexpr size_t	kRobotDOF = 24
	Total degrees of freedom for the robot.
static constexpr std::array< std::string_view, kRobotDOF >	kRobotJointNames
	Names of the robot joints.
static constexpr std::array< unsigned int, 6 >	kTorsoIdx = {2, 3, 4, 5, 6, 7}
	Indices for the torso components.
static constexpr std::array< unsigned int, 20 >	kVelocityEstimationRequiredIdx = kBodyIdx
	Indices for joints requiring velocity estimation.

Detailed Description

Represents the model description of Robot A.

This class represents the model description of Robot A, which serves as the base model.

Member Data Documentation

kBodyIdx

std::array<unsigned int, 20> rb::y1_model::A::kBodyIdx

staticconstexpr

Initial value:

= {2,  3,  4,  5,  6,  7,  8,  9,  10, 11,
                                                            12, 13, 14, 15, 16, 17, 18, 19, 20, 21}

Indices for the main body components.

These indices cover all joints excluding the mobility and head components.

kMobilityIdx

std::array<unsigned int, 2> rb::y1_model::A::kMobilityIdx = {0, 1}

staticconstexpr

Indices for the mobility components (e.g., wheels).

These indices represent the parts of the robot responsible for mobility.

kRobotJointNames

std::array<std::string_view, kRobotDOF> rb::y1_model::A::kRobotJointNames

staticconstexpr

Initial value:

= {
      "right_wheel", "left_wheel",  "torso_0",     "torso_1",     "torso_2",     "torso_3",
      "torso_4",     "torso_5",     "right_arm_0", "right_arm_1", "right_arm_2", "right_arm_3",
      "right_arm_4", "right_arm_5", "right_arm_6", "left_arm_0",  "left_arm_1",  "left_arm_2",
      "left_arm_3",  "left_arm_4",  "left_arm_5",  "left_arm_6",  "head_0",      "head_1"}

Names of the robot joints.

This array contains the names of all joints in the robot, arranged in the order of their indices.

kVelocityEstimationRequiredIdx

std::array<unsigned int, 20> rb::y1_model::A::kVelocityEstimationRequiredIdx = kBodyIdx

staticconstexpr

Indices for joints requiring velocity estimation.

These indices include joints where velocity estimation is essential.

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

• /external/rby1-sdk/include/rby1-sdk/model.h