BipedalLocomotion::Planners::SO3PlannerState struct
#include <BipedalLocomotion/Planners/SO3Planner.h>

SO3PlannerState contains the state of the planner.

The velocity and the acceleration are expressed in inertial/body frame depending on the Trivialization used by the planner.

Public variables

manif::SO3d rotation
${}^{\mathcal{I}}R_{\mathcal{B}}$
manif::SO3d::Tangent velocity
Angular velocity expressed in inertial or body fixed frame (accordingly to the trivialization used).
manif::SO3d::Tangent acceleration
Angular acceleration expressed in inertial or body fixed frame (accordingly to the trivialization used).