CCC::LinearMpcXY::RefData Struct Reference

Reference data. More...

#include <LinearMpcXY.h>

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

Static Public Member Functions
static constexpr int	outputDim ()
	Get reference output size. 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

Reference data.

Definition at line 77 of file LinearMpcXY.h.

Member Function Documentation

outputDim()

static constexpr int CCC::LinearMpcXY::RefData::outputDim ( )

inlinestaticconstexpr

Get reference output size.

Definition at line 91 of file LinearMpcXY.h.

toOutput()

StateDimVector CCC::LinearMpcXY::RefData::toOutput

(

double

mass

)

const

Get reference output of state-space model.

Parameters

mass	robot mass [kg]

Member Data Documentation

angular_momentum

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

Angular momentum [kg m^2/s].

Definition at line 88 of file LinearMpcXY.h.

pos

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

CoM position [m].

Definition at line 82 of file LinearMpcXY.h.

vel

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

CoM linear velocity [m/s].

Definition at line 85 of file LinearMpcXY.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/LinearMpcXY.h