#include <BipedalLocomotion/ContinuousDynamicalSystem/FloatingBaseSystemKinematics.h>

template<>
BipedalLocomotion::ContinuousDynamicalSystem::internal::traits<FloatingBaseSystemKinematics> struct

Public types

using Twist = Eigen::Matrix<double, 6, 1>
using State = GenericContainer::named_tuple<BLF_NAMED_PARAM(p, Eigen::Vector3d), BLF_NAMED_PARAM(R, manif::SO3d), BLF_NAMED_PARAM(s, Eigen::VectorXd)>
using StateDerivative = GenericContainer::named_tuple<BLF_NAMED_PARAM(dp, Eigen::Vector3d), BLF_NAMED_PARAM(omega, manif::SO3d::Tangent), BLF_NAMED_PARAM(ds, Eigen::VectorXd)>
using Input = GenericContainer::named_tuple<BLF_NAMED_PARAM(twist, Twist), BLF_NAMED_PARAM(ds, Eigen::VectorXd)>
using DynamicalSystem = FloatingBaseSystemKinematics

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