CCC::PreviewControlZmp1d::WeightParam Struct Reference

Weight parameter. More...

#include <PreviewControlZmp.h>

Public Member Functions
	WeightParam (double _zmp=1.0, double _com_jerk=1e-8)
	Constructor. More...
PreviewControl< 3, 1, 1 >::WeightParam	toPreviewControlWeightParam () const
	Convert to PreviewControl::WeightParam. More...

Public Attributes
double	zmp
	ZMP weight. More...
double	com_jerk
	CoM jerk weight. More...

Detailed Description

Weight parameter.

Definition at line 28 of file PreviewControlZmp.h.

Constructor & Destructor Documentation

WeightParam()

CCC::PreviewControlZmp1d::WeightParam::WeightParam ( double  _zmp = 1.0, double  _com_jerk = 1e-8  )

inline

Constructor.

Parameters

_zmp	ZMP weight
_com_jerk	CoM jerk weight

Definition at line 40 of file PreviewControlZmp.h.

Member Function Documentation

toPreviewControlWeightParam()

PreviewControl<3, 1, 1>::WeightParam CCC::PreviewControlZmp1d::WeightParam::toPreviewControlWeightParam

(

)

const

Convert to PreviewControl::WeightParam.

Member Data Documentation

com_jerk

double CCC::PreviewControlZmp1d::WeightParam::com_jerk

CoM jerk weight.

Definition at line 34 of file PreviewControlZmp.h.

zmp

double CCC::PreviewControlZmp1d::WeightParam::zmp

ZMP weight.

Definition at line 31 of file PreviewControlZmp.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/PreviewControlZmp.h