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

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

• /home/docs/checkouts/readthedocs.org/user_builds/orca-controller/checkouts/dev/include/orca/robot/RobotModel.h