BipedalLocomotion::TSID::TSIDState struct
#include <BipedalLocomotion/TSID/TaskSpaceInverseDynamics.h>

State of the TaskSpaceInverseDynamics.

Public variables

manif::SE3d::Tangent baseAcceleration: Mixed acceleration of the base.
Eigen::VectorXd jointAccelerations: Joints acceleration in rad per second per second.
Eigen::VectorXd jointTorques: Joint torques.
std::unordered_map<std::string, Contacts::ContactWrench> contactWrenches

Variable documentation

Eigen::VectorXd BipedalLocomotion::TSID::TSIDState::jointTorques

Joint torques.

List of the information related to the contact wrenches

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