struct
CoMZMPControllerInput
Public variables
- Eigen::Vector2d desiredCoMVelocity
- Desired CoM velocity.
- Eigen::Vector2d desiredCoMPosition
- Desired CoM position.
- Eigen::Vector2d desiredZMPPosition
- Desired ZMP position.
- Eigen::Vector2d CoMPosition
- CoM position.
- Eigen::Vector2d ZMPPosition
- ZMP position.
- double angle
- the yaw angle represents the I_R_B rotation matrix.
Variable documentation
double BipedalLocomotion:: SimplifiedModelControllers:: CoMZMPControllerInput:: angle
the yaw angle represents the I_R_B rotation matrix.
The rotation brings a vector expressed in the frame rigidly attached to the CoM (B) to the inertial frame (I). The yaw angle allows the user to have different gains on the forward and lateral walking direction.