rb::y1_model::M Class Reference

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

#include <model.h>

Public Types
using	DynRobotStateType = rb::dyn::State<kRobotDOF>
using	DynRobotType = rb::dyn::Robot<kRobotDOF>

Static Public Attributes
static constexpr std::array< unsigned int, 20 >	kBodyIdx
static constexpr double	kControlPeriod = 0.002
static constexpr std::array< unsigned int, 2 >	kHeadIdx = {24, 25}
static constexpr std::array< unsigned int, 7 >	kLeftArmIdx = {17, 18, 19, 20, 21, 22, 23}
static constexpr std::array< unsigned int, 4 >	kMobilityIdx = {0, 1, 2, 3}
static constexpr std::string_view	kModelName = "M"
static constexpr std::array< unsigned int, 7 >	kRightArmIdx = {10, 11, 12, 13, 14, 15, 16}
static constexpr size_t	kRobotDOF = 26
static constexpr std::array< std::string_view, kRobotDOF >	kRobotJointNames
static constexpr std::array< unsigned int, 6 >	kTorsoIdx = {4, 5, 6, 7, 8, 9}
static constexpr std::array< unsigned int, 20 >	kVelocityEstimationRequiredIdx = kBodyIdx

Detailed Description

Represents the model description of Robot M.

This class represents the model description of Robot M, which is derived from the base model A. The M model includes mecanum wheel mobile base instead differential type mobile base.

Member Data Documentation

kBodyIdx

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

staticconstexpr

Initial value:

= {4,  5,  6,  7,  8,  9,  10, 11, 12, 13,
                                                            14, 15, 16, 17, 18, 19, 20, 21, 22, 23}

kRobotJointNames

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

staticconstexpr

Initial value:

= {
      "wheel_fr",    "wheel_fl",    "wheel_rr",    "wheel_rl",    "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"}

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

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