BipedalLocomotion::ReducedModelControllers::CentroidalMPCOutput struct
#include <BipedalLocomotion/ReducedModelControllers/CentroidalMPC.h>

CentroidalMPCOutput contains the output of the CentroidalMPC class.

Public variables

std::map<std::string, Contacts::DiscreteGeometryContact> contacts: Map containing the contact name and the associated contact.
Contacts::ContactPhaseList contactPhaseList: Contact phase list generated by the CentroidalMPC.
std::vector<Eigen::Vector3d> comTrajectory: Desired CoM trajectory generated by the CentroidalMPC.
std::vector<Eigen::Vector3d> comVelocityTrajectory: Desired CoM velocity trajectory generated by the CentroidalMPC.
std::vector<Eigen::Vector3d> angularMomentumTrajectory: Desired angular momentum trajectory generated by the CentroidalMPC.