model.h

#pragma once
 
#include <array>
#include <string>
 
#include "dynamics/robot.h"
#include "export.h"
 
namespace rb::y1_model {
 
class RBY1_SDK_API A {
 public:
  static constexpr std::string_view kModelName = "A";
 
  static constexpr size_t kRobotDOF = 24;
 
  static constexpr std::array<std::string_view, kRobotDOF> kRobotJointNames = {
      "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"};
 
  static constexpr std::array<unsigned int, 2> kMobilityIdx = {0, 1};
 
  static constexpr std::array<unsigned int, 20> kBodyIdx = {2,  3,  4,  5,  6,  7,  8,  9,  10, 11,
                                                            12, 13, 14, 15, 16, 17, 18, 19, 20, 21};
 
  static constexpr std::array<unsigned int, 2> kHeadIdx = {22, 23};
 
  static constexpr std::array<unsigned int, 7> kRightArmIdx = {8, 9, 10, 11, 12, 13, 14};
 
  static constexpr std::array<unsigned int, 7> kLeftArmIdx = {15, 16, 17, 18, 19, 20, 21};
 
  static constexpr std::array<unsigned int, 6> kTorsoIdx = {2, 3, 4, 5, 6, 7};
 
  static constexpr std::array<unsigned int, 20> kVelocityEstimationRequiredIdx = kBodyIdx;
 
  static constexpr double kControlPeriod = 0.002;
 
  using DynRobotType = rb::dyn::Robot<kRobotDOF>;
 
  using DynRobotStateType = rb::dyn::State<kRobotDOF>;
};
 
class RBY1_SDK_API M {
 public:
  static constexpr std::string_view kModelName = "M";
 
  static constexpr size_t kRobotDOF = 26;
 
  static constexpr std::array<std::string_view, kRobotDOF> kRobotJointNames = {
      "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"};
  static constexpr std::array<unsigned int, 4> kMobilityIdx = {0, 1, 2, 3};
  static constexpr std::array<unsigned int, 20> kBodyIdx = {4,  5,  6,  7,  8,  9,  10, 11, 12, 13,
                                                            14, 15, 16, 17, 18, 19, 20, 21, 22, 23};
  static constexpr std::array<unsigned int, 2> kHeadIdx = {24, 25};
  static constexpr std::array<unsigned int, 7> kRightArmIdx = {10, 11, 12, 13, 14, 15, 16};
  static constexpr std::array<unsigned int, 7> kLeftArmIdx = {17, 18, 19, 20, 21, 22, 23};
  static constexpr std::array<unsigned int, 6> kTorsoIdx = {4, 5, 6, 7, 8, 9};
  static constexpr std::array<unsigned int, 20> kVelocityEstimationRequiredIdx = kBodyIdx;
 
  static constexpr double kControlPeriod = 0.002;
 
  using DynRobotType = rb::dyn::Robot<kRobotDOF>;
  using DynRobotStateType = rb::dyn::State<kRobotDOF>;
};
 
class RBY1_SDK_API UB {
 public:
  static constexpr std::string_view kModelName = "UB";
 
  static constexpr size_t kRobotDOF = 18;
 
  static constexpr std::array<std::string_view, kRobotDOF> kRobotJointNames = {
      "torso_hp",    "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"};
  static constexpr std::array<unsigned int, 0> kMobilityIdx = {};
  static constexpr std::array<unsigned int, 16> kBodyIdx = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15};
  static constexpr std::array<unsigned int, 2> kHeadIdx = {16, 17};
  static constexpr std::array<unsigned int, 7> kRightArmIdx = {2, 3, 4, 5, 6, 7, 8};
  static constexpr std::array<unsigned int, 7> kLeftArmIdx = {9, 10, 11, 12, 13, 14, 15};
  static constexpr std::array<unsigned int, 2> kTorsoIdx = {0, 1};
  static constexpr std::array<unsigned int, 16> kVelocityEstimationRequiredIdx = kBodyIdx;
 
  static constexpr double kControlPeriod = 0.002;
 
  using DynRobotType = rb::dyn::Robot<kRobotDOF>;
  using DynRobotStateType = rb::dyn::State<kRobotDOF>;
};
 
}  // namespace rb::y1_model