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ORCA: Optimization-based framework for Robotic Control Applications
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#include <RobotModel.h>
Public Member Functions | |
void | resize (int nrOfInternalDOFs) |
void | reset () |
Public Attributes | |
Eigen::Matrix4d | world_H_base |
Eigen::VectorXd | jointPos |
Eigen::Matrix< double, 6, 1 > | baseVel |
Eigen::VectorXd | jointVel |
Eigen::Vector3d | gravity |
Struct containing the floating robot state using Eigen data structures.
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inline |
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inline |
Eigen::Matrix<double,6,1> orca::robot::RobotState::baseVel |
Eigen::Vector3d orca::robot::RobotState::gravity |
Eigen::VectorXd orca::robot::RobotState::jointPos |
Eigen::VectorXd orca::robot::RobotState::jointVel |
Eigen::Matrix4d orca::robot::RobotState::world_H_base |