template<>
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