Initial parameter. More...

#include <DdpSingleRigidBody.h>

Public Member Functions
	InitialParam ()
	Constructor. More...

	InitialParam (const DdpProblem::StateDimVector &state)
	Constructor. More...

DdpProblem::StateDimVector	toState () const
	Get state of DDP problem. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector3d	pos = Eigen::Vector3d::Zero()
	CoM position [m]. More...

Eigen::Vector3d	ori = Eigen::Vector3d::Zero()
	Base link orientation [rad]. More...

Eigen::Vector3d	linear_vel = Eigen::Vector3d::Zero()
	Linear velocity [m/s]. More...

Eigen::Vector3d	angular_vel = Eigen::Vector3d::Zero()
	Angular velocity [rad/s]. More...

std::vector< DdpProblem::InputDimVector >	u_list = {}
	Initial guess of input sequence. More...

Detailed Description

Initial parameter.

Definition at line 335 of file DdpSingleRigidBody.h.

Constructor & Destructor Documentation

◆ InitialParam() [1/2]

CCC::DdpSingleRigidBody::InitialParam::InitialParam ( )

inline

Constructor.

Definition at line 359 of file DdpSingleRigidBody.h.

◆ InitialParam() [2/2]

CCC::DdpSingleRigidBody::InitialParam::InitialParam ( const DdpProblem::StateDimVector & state )

Constructor.

Parameters

state state of DDP problem

Member Function Documentation

◆ toState()

DdpProblem::StateDimVector CCC::DdpSingleRigidBody::InitialParam::toState ( ) const

Get state of DDP problem.

Member Data Documentation

◆ angular_vel

Eigen::Vector3d CCC::DdpSingleRigidBody::InitialParam::angular_vel = Eigen::Vector3d::Zero()

Angular velocity [rad/s].

Definition at line 349 of file DdpSingleRigidBody.h.

◆ linear_vel

Eigen::Vector3d CCC::DdpSingleRigidBody::InitialParam::linear_vel = Eigen::Vector3d::Zero()

Linear velocity [m/s].

Definition at line 346 of file DdpSingleRigidBody.h.

◆ ori

Eigen::Vector3d CCC::DdpSingleRigidBody::InitialParam::ori = Eigen::Vector3d::Zero()

Base link orientation [rad].

Definition at line 343 of file DdpSingleRigidBody.h.

◆ pos

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector3d CCC::DdpSingleRigidBody::InitialParam::pos = Eigen::Vector3d::Zero()

CoM position [m].

Definition at line 340 of file DdpSingleRigidBody.h.

◆ u_list

std::vector<DdpProblem::InputDimVector> CCC::DdpSingleRigidBody::InitialParam::u_list = {}

Initial guess of input sequence.

Sequence length should be horizon_steps. If empty, initial guess of input sequence is initialized to all zeros.

Definition at line 356 of file DdpSingleRigidBody.h.

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

/home/runner/work/CentroidalControlCollection/CentroidalControlCollection/catkin_ws/src/CentroidalControlCollection/include/CCC/DdpSingleRigidBody.h

Public Member Functions

Public Attributes