BipedalLocomotion::SimplifiedModelControllers::CoMZMPControllerInput struct
#include <BipedalLocomotion/SimplifiedModelControllers/CoMZMPController.h>

Public variables

Eigen::Vector2d desiredCoMVelocity
Desired CoM velocity.
Eigen::Vector2d desiredCoMPosition
Desired CoM position.
Eigen::Vector2d desiredZMPPosition
Desired ZMP position.
Eigen::Vector2d CoMPosition
CoM position.
Eigen::Vector2d ZMPPosition
ZMP position.
double angle
the yaw angle represents the I_R_B rotation matrix.

Variable documentation

double BipedalLocomotion::SimplifiedModelControllers::CoMZMPControllerInput::angle

the yaw angle represents the I_R_B rotation matrix.

The rotation brings a vector expressed in the frame rigidly attached to the CoM (B) to the inertial frame (I). The yaw angle allows the user to have different gains on the forward and lateral walking direction.