hrp2.hpp

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#ifndef HRP2CONSTANTS
#define HRP2CONSTANTS
 
// #define STATEOBSERVATION_VERBOUS_CONSTRUCTORS
 
#include <deque>
#include <vector>
 
#ifdef STATEOBSERVATION_VERBOUS_CONSTRUCTORS
#  include <iostream>
#endif
 
#include <boost/assert.hpp>
 
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <state-observation/api.h>
 
namespace stateObservation
{
 
namespace hrp2
{
constexpr double m = 56.8;
 
constexpr double linKe = 40000;
constexpr double angKe = 400;
constexpr double linKv = 600;
constexpr double angKv = 10;
 
struct contact
{
  static const unsigned nbMax = 4;
  static const unsigned nbModeledMax = 2;
  // index for the contacts
  static const unsigned lf = 0;
  static const unsigned rf = 1;
  static const unsigned lh = 2;
  static const unsigned rh = 3;
};
} // namespace hrp2
 
} // namespace stateObservation
 
#endif // HRP2CONSTANTS