CCC::DcmTracking::RefData Struct Reference

Reference data. More...

#include <DcmTracking.h>

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector2d	current_zmp = Eigen::Vector2d::Zero()
	Current ZMP [m]. More...
std::map< double, Eigen::Vector2d >	time_zmp_list
	List of pairs of future ZMP and switching time. More...

Detailed Description

Reference data.

Definition at line 26 of file DcmTracking.h.

Member Data Documentation

current_zmp

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector2d CCC::DcmTracking::RefData::current_zmp = Eigen::Vector2d::Zero()

Current ZMP [m].

Definition at line 31 of file DcmTracking.h.

time_zmp_list

std::map<double, Eigen::Vector2d> CCC::DcmTracking::RefData::time_zmp_list

List of pairs of future ZMP and switching time.

In the referenced paper, the length of time_zmp_list is three.

Definition at line 37 of file DcmTracking.h.

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

• /home/runner/work/CentroidalControlCollection/CentroidalControlCollection/colcon_ws/src/isri-aist/CentroidalControlCollection/include/CCC/DcmTracking.h