struct
TSIDStateState of the TaskSpaceInverseDynamics.
Public variables
- manif::SE3d::Tangent baseAcceleration
- Mixed acceleration of the base.
- Eigen::VectorXd jointAccelerations
- Joints acceleration in rad per second per second.
- Eigen::VectorXd jointTorques
- Joint torques.
-
std::unordered_map<std::string, Contacts::
ContactWrench> contactWrenches
Variable documentation
Eigen::VectorXd BipedalLocomotion:: TSID:: TSIDState:: jointTorques
Joint torques.
List of the information related to the contact wrenches