CCC::LinearMpcXY::InitialParam Struct Reference

Initial parameter. More...

#include <LinearMpcXY.h>

Public Member Functions
StateDimVector	toState (double mass) const
	Get state of state-space model. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector2d	pos = Eigen::Vector2d::Zero()
	CoM position [m]. More...
Eigen::Vector2d	vel = Eigen::Vector2d::Zero()
	CoM linear velocity [m/s]. More...
Eigen::Vector2d	angular_momentum = Eigen::Vector2d::Zero()
	Angular momentum [kg m^2/s]. More...

Detailed Description

Initial parameter.

Definition at line 57 of file LinearMpcXY.h.

Member Function Documentation

toState()

StateDimVector CCC::LinearMpcXY::InitialParam::toState

(

double

mass

)

const

Get state of state-space model.

Parameters

mass	robot mass [kg]

Member Data Documentation

angular_momentum

Eigen::Vector2d CCC::LinearMpcXY::InitialParam::angular_momentum = Eigen::Vector2d::Zero()

Angular momentum [kg m^2/s].

Definition at line 68 of file LinearMpcXY.h.

pos

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector2d CCC::LinearMpcXY::InitialParam::pos = Eigen::Vector2d::Zero()

CoM position [m].

Definition at line 62 of file LinearMpcXY.h.

vel

Eigen::Vector2d CCC::LinearMpcXY::InitialParam::vel = Eigen::Vector2d::Zero()

CoM linear velocity [m/s].

Definition at line 65 of file LinearMpcXY.h.

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

• /home/runner/work/CentroidalControlCollection/CentroidalControlCollection/catkin_ws/src/CentroidalControlCollection/include/CCC/LinearMpcXY.h