CCC::PreviewControlCentroidal::InitialParam Struct Reference

Initial parameter. More...

#include <PreviewControlCentroidal.h>

Public Member Functions
PreviewControlCentroidal1d::InitialParam	toInitialParam1d (int idx) const
	Convert to PreviewControlCentroidal1d::InitialParam. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW sva::MotionVecd	pos = sva::MotionVecd::Zero()
	CoM position [m] and base link orientation [rad]. More...
sva::MotionVecd	vel = sva::MotionVecd::Zero()
	CoM velocity [m/s] and base link angular velocity [rad/s]. More...
sva::MotionVecd	acc = sva::MotionVecd::Zero()
	CoM acceleration [m/s^2] and base link angular acceleration [rad/s^2]. More...

Detailed Description

Initial parameter.

Definition at line 162 of file PreviewControlCentroidal.h.

Member Function Documentation

toInitialParam1d()

PreviewControlCentroidal1d::InitialParam CCC::PreviewControlCentroidal::InitialParam::toInitialParam1d

(

int

idx

)

const

Convert to PreviewControlCentroidal1d::InitialParam.

Parameters

idx	component index

Member Data Documentation

acc

sva::MotionVecd CCC::PreviewControlCentroidal::InitialParam::acc = sva::MotionVecd::Zero()

CoM acceleration [m/s^2] and base link angular acceleration [rad/s^2].

Definition at line 173 of file PreviewControlCentroidal.h.

pos

EIGEN_MAKE_ALIGNED_OPERATOR_NEW sva::MotionVecd CCC::PreviewControlCentroidal::InitialParam::pos = sva::MotionVecd::Zero()

CoM position [m] and base link orientation [rad].

Definition at line 167 of file PreviewControlCentroidal.h.

vel

sva::MotionVecd CCC::PreviewControlCentroidal::InitialParam::vel = sva::MotionVecd::Zero()

CoM velocity [m/s] and base link angular velocity [rad/s].

Definition at line 170 of file PreviewControlCentroidal.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/PreviewControlCentroidal.h