Initial parameter.
More...
#include <DdpZmp.h>
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DdpProblem::StateDimVector | toState () const |
| Get state of DDP problem. More...
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector3d | pos = Eigen::Vector3d::Zero() |
| CoM position [m]. More...
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Eigen::Vector3d | vel = Eigen::Vector3d::Zero() |
| CoM velocity [m/s]. More...
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std::vector< DdpProblem::InputDimVector > | u_list = {} |
| Initial guess of input sequence. More...
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Initial parameter.
Definition at line 247 of file DdpZmp.h.
◆ toState()
DdpProblem::StateDimVector CCC::DdpZmp::InitialParam::toState |
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const |
Get state of DDP problem.
◆ 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.
The documentation for this struct was generated from the following file:
- /home/runner/work/CentroidalControlCollection/CentroidalControlCollection/catkin_ws/src/CentroidalControlCollection/include/CCC/DdpZmp.h