27 lines
589 B
C++
27 lines
589 B
C++
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#pragma once
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#include "Controller/Controller.hpp"
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class DistributedIDC : public Controller {
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public:
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DistributedIDC();
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DistributedIDC(const std::string& name);
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~DistributedIDC() {}
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private:
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void InitClass();
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std::string m_name;
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vec12 CalculateFeedForwardTorque() override;
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vec12 SolveContactForcesGPGD(const vec6 &);
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mat18x18 J, Jc, Jd, J_r, M, Nc, NcT, I;
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vec18 H, G, tau_full, qd_r, qdd_r, qd, a_cmd, PD;
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vec19 q_r, q;
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vec12 tau_ff;
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Eigen::VectorXd err;
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vec12 Fc, F_prev;
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vec6 b;
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mat6x6 Kpb, Kdb;
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mat12x12 Kpa, Kda;
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};
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