sobec::OCPRobotWrapper Struct Reference

#include <sobec/walk-without-think/ocp.hpp>

Public Member Functions
	OCPRobotWrapper (boost::shared_ptr< pinocchio::Model > model, const std::string &contactKey, const std::string &referencePosture="half_sitting")

Public Attributes
boost::shared_ptr< pinocchio::Model >	model
boost::shared_ptr< pinocchio::Data >	data
std::vector< pinocchio::FrameIndex >	contactIds
std::map< pinocchio::FrameIndex, pinocchio::FrameIndex >	towIds
std::map< pinocchio::FrameIndex, pinocchio::FrameIndex >	heelIds
Eigen::VectorXd	x0
Eigen::Vector3d	com0
double	robotGravityForce

Constructor & Destructor Documentation

OCPRobotWrapper()

sobec::OCPRobotWrapper::OCPRobotWrapper	(	boost::shared_ptr< pinocchio::Model >	model,
		const std::string &	contactKey,
		const std::string &	referencePosture = "half_sitting"
	)

Member Data Documentation

com0

Eigen::Vector3d sobec::OCPRobotWrapper::com0

contactIds

std::vector<pinocchio::FrameIndex> sobec::OCPRobotWrapper::contactIds

data

boost::shared_ptr<pinocchio::Data> sobec::OCPRobotWrapper::data

heelIds

std::map<pinocchio::FrameIndex, pinocchio::FrameIndex> sobec::OCPRobotWrapper::heelIds

model

boost::shared_ptr<pinocchio::Model> sobec::OCPRobotWrapper::model

robotGravityForce

double sobec::OCPRobotWrapper::robotGravityForce

towIds

std::map<pinocchio::FrameIndex, pinocchio::FrameIndex> sobec::OCPRobotWrapper::towIds

x0

Eigen::VectorXd sobec::OCPRobotWrapper::x0

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

• include/sobec/walk-without-think/ocp.hpp
• src/walk-without-think/ocp-robot.cpp