struct
DCMPlannerStateDCMPlannerState describes the state of the Divergent Component of Motion (DCM) planner.
Public variables
- Eigen::Vector3d dcmPosition
- Position of the DCM expressed w.r.t.
- Eigen::Vector3d dcmVelocity
- Velocity of the DCM expressed w.r.t.
- Eigen::Vector3d vrpPosition
- Position of the virtual repellent point (VRP) expressed w.r.t.
- double omega
- Value of the parameter omega.
- double omegaDot
- Value of the parameter omega dot.
Variable documentation
Eigen::Vector3d BipedalLocomotion:: Planners:: DCMPlannerState:: dcmPosition
Position of the DCM expressed w.r.t.
the inertial frame
Eigen::Vector3d BipedalLocomotion:: Planners:: DCMPlannerState:: dcmVelocity
Velocity of the DCM expressed w.r.t.
the inertial frame
Eigen::Vector3d BipedalLocomotion:: Planners:: DCMPlannerState:: vrpPosition
Position of the virtual repellent point (VRP) expressed w.r.t.
the inertial frame