CCC::DdpZmp::InitialParam Struct Reference

Initial parameter. More...

#include <DdpZmp.h>

Public Member Functions
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	vel = Eigen::Vector3d::Zero()
	CoM velocity [m/s]. More...
std::vector< DdpProblem::InputDimVector >	u_list = {}
	Initial guess of input sequence. More...

Detailed Description

Initial parameter.

Definition at line 247 of file DdpZmp.h.

Member Function Documentation

toState()

DdpProblem::StateDimVector CCC::DdpZmp::InitialParam::toState

(

)

const

Get state of DDP problem.

Member Data Documentation

pos

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

CoM position [m].

Definition at line 252 of file DdpZmp.h.

u_list

std::vector<DdpProblem::InputDimVector> CCC::DdpZmp::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 262 of file DdpZmp.h.

vel

Eigen::Vector3d CCC::DdpZmp::InitialParam::vel = Eigen::Vector3d::Zero()

CoM velocity [m/s].

Definition at line 255 of file DdpZmp.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/DdpZmp.h