Planned data. More...

#include <StepMpc.h>

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector2d	current_zmp = Eigen::Vector2d::Zero()
	Current ZMP [m]. More...

std::optional< Eigen::Vector2d >	next_foot_zmp
	ZMP of next foot [m]. More...

Detailed Description

Planned data.

Definition at line 193 of file StepMpc.h.

Member Data Documentation

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector2d CCC::StepMpc::PlannedData::current_zmp = Eigen::Vector2d::Zero()

Current ZMP [m].

Definition at line 198 of file StepMpc.h.

std::optional<Eigen::Vector2d> CCC::StepMpc::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 204 of file StepMpc.h.

The documentation for this struct was generated from the following file:

/home/runner/work/CentroidalControlCollection/CentroidalControlCollection/catkin_ws/src/CentroidalControlCollection/include/CCC/StepMpc.h