BipedalLocomotion::Planners::DCMPlannerState struct
#include <BipedalLocomotion/Planners/DCMPlanner.h>

DCMPlannerState 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