CCC::StepMpc1d::PlannedData Struct Reference

Planned data. More...

#include <StepMpc.h>

Public Attributes
double	current_zmp = 0
	Current ZMP [m]. More...
std::optional< double >	next_foot_zmp
	ZMP of next foot [m]. More...

Detailed Description

Planned data.

Definition at line 61 of file StepMpc.h.

Member Data Documentation

current_zmp

double CCC::StepMpc1d::PlannedData::current_zmp = 0

Current ZMP [m].

Definition at line 64 of file StepMpc.h.

next_foot_zmp

std::optional<double> CCC::StepMpc1d::PlannedData::next_foot_zmp

ZMP of next foot [m].

null if the single support phase of the next foot is not included in the horizon

Definition at line 70 of file StepMpc.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/StepMpc.h