Searched refs:mBiped (Results 1 – 4 of 4) sorted by relevance
58 int nDofs = mBiped->getNumDofs(); in Controller()102 mBiped->setForces(mForces); in addPDForces()112 = (mBiped->getMassMatrix() + mKd * mBiped->getTimeStep()).inverse(); in addSPDForces()121 mBiped->setForces(mForces); in addSPDForces()127 Eigen::Vector3d COM = mBiped->getCOM(); in addAnkleStrategyForces()165 mBiped->setForces(mForces); in addAnkleStrategyForces()183 mBiped->setCommand(index1, mSpeed); in setWheelCommands()184 mBiped->setCommand(index2, mSpeed); in setWheelCommands()185 mBiped->setCommand(index3, mSpeed); in setWheelCommands()186 mBiped->setCommand(index4, mSpeed); in setWheelCommands()[all …]
48 mBiped(std::move(biped)) in CustomWorldNode()50 mLeftHeel = mBiped->getBodyNode("h_heel_left"); in CustomWorldNode()53 mLeftFoot[1] = mBiped->getDof("j_toe_left")->getIndexInSkeleton(); in CustomWorldNode()60 const int nDof = static_cast<int>(mBiped->getNumDofs()); in CustomWorldNode()67 mDesiredDofs = mBiped->getPositions(); in CustomWorldNode()99 const Eigen::VectorXd dof = mBiped->getPositions(); in customPreStep()100 const Eigen::VectorXd dofVel = mBiped->getVelocities(); in customPreStep()106 = (mBiped->getMassMatrix() + mKd * mTimestep).inverse(); in customPreStep()116 const Eigen::Vector3d com = mBiped->getCOM(); in customPreStep()150 mBiped->setForces(mTorques); in customPreStep()[all …]
57 : mBiped(biped), mPreOffset(0.0), mSpeed(0.0) in Controller()59 int nDofs = mBiped->getNumDofs(); in Controller()78 setTargetPositions(mBiped->getPositions()); in Controller()125 SkeletonPtr mBiped; member in Controller
158 setTargetPositions(mBiped->getPositions());176 Eigen::VectorXd q = mBiped->getPositions();177 Eigen::VectorXd dq = mBiped->getVelocities();183 mBiped->setForces(mForces);223 Eigen::VectorXd q = mBiped->getPositions();224 Eigen::VectorXd dq = mBiped->getVelocities();226 Eigen::MatrixXd invM = (mBiped->getMassMatrix() + mKd * mBiped->getTimeStep()).inverse();229 …Eigen::VectorXd qddot = invM * (-mBiped->getCoriolisAndGravityForces() + p + d + mBiped->getConstr…232 mBiped->setForces(mForces);275 Eigen::Vector3d COM = mBiped->getCOM();[all …]