CCC::LinearMpcZmp::RefData Struct Reference

Reference data. More...

#include <LinearMpcZmp.h>

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW std::array< Eigen::Vector2d, 2 >	zmp_limits
	Min/max limits of ZMP [m]. More...

Detailed Description

Reference data.

Todo:

It is assumed that ZMP limits are independent for the x and y components. This assumption is not valid if the foot is placed diagonally during the single-support phase or if the feet are not aligned during the double-support phase.

Definition at line 104 of file LinearMpcZmp.h.

Member Data Documentation

zmp_limits

EIGEN_MAKE_ALIGNED_OPERATOR_NEW std::array<Eigen::Vector2d, 2> CCC::LinearMpcZmp::RefData::zmp_limits

Min/max limits of ZMP [m].

Definition at line 109 of file LinearMpcZmp.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/LinearMpcZmp.h