ORCA: Optimization-based framework for Robotic Control Applications
Public Member Functions | Public Attributes | List of all members
orca::robot::RobotState Struct Reference

#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
 

Detailed Description

Struct containing the floating robot state using Eigen data structures.

Member Function Documentation

void orca::robot::RobotState::reset ( )
inline
void orca::robot::RobotState::resize ( int  nrOfInternalDOFs)
inline

Member Data Documentation

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

The documentation for this struct was generated from the following file: