BipedalLocomotion::ReducedModelControllers::CentroidalMPCOutput struct
#include <BipedalLocomotion/ReducedModelControllers/CentroidalMPC.h>

CentroidalMPCOutput contains the output of the CentroidalMPC class.

Public variables

std::map<std::string, Contacts::DiscreteGeometryContact> contacts
std::map<std::string, Contacts::PlannedContact> nextPlannedContact
std::vector<Eigen::Vector3d> comTrajectory