template<>
traits<CentroidalDynamics> struct
Public types
-
using Contacts = std::map<std::string, BipedalLocomotion::
Contacts:: DiscreteGeometryContact> -
using ExternalWrench = std::optional<BipedalLocomotion::
Math:: Wrenchd> -
using State = GenericContainer::
named_tuple<BLF_ NAMED_ PARAM(com_pos, Eigen::Vector3d), BLF_ NAMED_ PARAM(com_vel, Eigen::Vector3d), BLF_ NAMED_ PARAM(angular_momentum, Eigen::Vector3d)> -
using StateDerivative = GenericContainer::
named_tuple<BLF_ NAMED_ PARAM(com_vel, Eigen::Vector3d), BLF_ NAMED_ PARAM(com_acc, Eigen::Vector3d), BLF_ NAMED_ PARAM(angular_momentum_rate, Eigen::Vector3d)> -
using Input = GenericContainer::
named_tuple<BLF_ NAMED_ PARAM(contacts, Contacts), BLF_ NAMED_ PARAM(external_wrench, ExternalWrench)> - using DynamicalSystem = CentroidalDynamics